add remapped api launch

Signed-off-by: Takagi, Isamu <[email protected]>

system/default_ad_api_helpers/ad_api_distributor/launch/remapped_api.launch.py

@@ -0,0 +1,81 @@
+# Copyright 2022 TIER IV, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# This file is copied from system/default_ad_api/launch/default_ad_api.launch.py
+
+import launch
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+from launch_ros.parameter_descriptions import ParameterFile
+from launch_ros.substitutions import FindPackageShare
+
+
+def create_remapping(name):
+    return (name, ["/", LaunchConfiguration("prefix"), name])
+
+
+def create_api_node(node_name, class_name, **kwargs):
+    remappings = [
+        create_remapping("/api/localization/initialize"),
+        create_remapping("/api/routing/set_route"),
+        create_remapping("/api/routing/clear_route"),
+        create_remapping("/api/operation_mode/change_to_stop"),
+        create_remapping("/api/operation_mode/change_to_autonomous"),
+    ]
+    return ComposableNode(
+        namespace="default_ad_api/node",
+        name=node_name,
+        package="default_ad_api",
+        plugin="default_ad_api::" + class_name,
+        parameters=[ParameterFile(LaunchConfiguration("config"))],
+        remappings=remappings,
+    )
+
+
+def get_default_config():
+    path = FindPackageShare("default_ad_api")
+    path = PathJoinSubstitution([path, "config/default_ad_api.param.yaml"])
+    return path
+
+
+def generate_launch_description():
+    components = [
+        create_api_node("autoware_state", "AutowareStateNode"),
+        create_api_node("fail_safe", "FailSafeNode"),
+        create_api_node("interface", "InterfaceNode"),
+        create_api_node("localization", "LocalizationNode"),
+        create_api_node("motion", "MotionNode"),
+        create_api_node("operation_mode", "OperationModeNode"),
+        create_api_node("perception", "PerceptionNode"),
+        create_api_node("planning", "PlanningNode"),
+        create_api_node("routing", "RoutingNode"),
+        create_api_node("vehicle", "VehicleNode"),
+        create_api_node("vehicle_info", "VehicleInfoNode"),
+    ]
+    container = ComposableNodeContainer(
+        namespace="default_ad_api",
+        name="container",
+        package="rclcpp_components",
+        executable="component_container_mt",
+        ros_arguments=["--log-level", "default_ad_api.container:=WARN"],
+        composable_node_descriptions=components,
+    )
+    arguments = [
+        DeclareLaunchArgument("config", default_value=get_default_config()),
+        DeclareLaunchArgument("prefix"),
+    ]
+    return launch.LaunchDescription([*arguments, container])