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Signed-off-by: Takamasa Horibe <[email protected]>
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <!-- Essential parameters --> | ||
| <arg name="map_path" description="point cloud and lanelet2 map directory path"/> | ||
| <arg name="vehicle_model" description="vehicle model name"/> | ||
| <arg name="sensor_model" description="sensor model name"/> | ||
| <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/> | ||
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| <!-- launch module preset --> | ||
| <arg name="planning_module_preset" default="xx1" description="planning module preset"/> | ||
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| <!-- Optional parameters --> | ||
| <!-- Modules to be launched --> | ||
| <arg name="vehicle" default="true" description="launch vehicle"/> | ||
| <arg name="system" default="true" description="launch system"/> | ||
| <arg name="map" default="true" description="launch map"/> | ||
| <arg name="sensing" default="true" description="launch sensing"/> | ||
| <arg name="localization" default="true" description="launch localization"/> | ||
| <arg name="perception" default="true" description="launch perception"/> | ||
| <arg name="planning" default="true" description="launch planning"/> | ||
| <arg name="control" default="true" description="launch control"/> | ||
| <!-- Map --> | ||
| <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/> | ||
| <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/> | ||
| <!-- Perception --> | ||
| <arg name="traffic_light_namespace" default="traffic_light" description="traffic light recognition namespace1"/> | ||
| <!-- Control --> | ||
| <!-- Vehicle --> | ||
| <arg name="launch_vehicle_interface" default="false"/> | ||
| <!-- System --> | ||
| <arg name="launch_system_monitor" default="false" description="launch system monitor"/> | ||
| <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/> | ||
| <arg | ||
| name="system_error_monitor_param_path" | ||
| default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml" | ||
| description="system error monitor param path" | ||
| /> | ||
| <!-- Tools --> | ||
| <arg name="rviz" default="true" description="launch rviz"/> | ||
| <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/awsim.rviz" description="rviz config"/> | ||
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| <!-- XX1 Traffic Light frame_id relay for AWSIM--> | ||
| <arg name="traffic_light_original_id" default="camera6/camera_optical_link"/> | ||
| <arg name="traffic_light_topic_id" default="traffic_light_left_camera/camera_optical_link"/> | ||
| <node pkg="tf2_ros" exec="static_transform_publisher" name="traffic_light_transform_publisher" args="--frame-id $(var traffic_light_original_id) --child-frame-id $(var traffic_light_topic_id)"/> | ||
|
|
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| <!-- dummy topic publisher (camera0 ~ camera6)--> | ||
| <!-- temporary until AWSIM supports object recognition camera --> | ||
| <arg name="camera0_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera0/camera_info sensor_msgs/msg/CameraInfo '{}'"/> | ||
| <arg name="camera1_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera1/camera_info sensor_msgs/msg/CameraInfo '{}'"/> | ||
| <arg name="camera2_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera2/camera_info sensor_msgs/msg/CameraInfo '{}'"/> | ||
| <arg name="camera3_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera3/camera_info sensor_msgs/msg/CameraInfo '{}'"/> | ||
| <arg name="camera4_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera4/camera_info sensor_msgs/msg/CameraInfo '{}'"/> | ||
| <arg name="camera5_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera5/camera_info sensor_msgs/msg/CameraInfo '{}'"/> | ||
|
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| <executable cmd="$(var camera0_pub)" name="camera0" shell="true"/> | ||
| <executable cmd="$(var camera1_pub)" name="camera1" shell="true"/> | ||
| <executable cmd="$(var camera2_pub)" name="camera2" shell="true"/> | ||
| <executable cmd="$(var camera3_pub)" name="camera3" shell="true"/> | ||
| <executable cmd="$(var camera4_pub)" name="camera4" shell="true"/> | ||
| <executable cmd="$(var camera5_pub)" name="camera5" shell="true"/> | ||
|
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||
| <!-- XX1 Traffic Light Image/Info Relay--> | ||
| <arg name="traffic_light_image_original_name" default="/sensing/camera/traffic_light/image_raw"/> | ||
| <arg name="traffic_light_image_topic_name" default="/sensing/camera/camera6/image_raw"/> | ||
| <arg name="traffic_light_info_original_name" default="/sensing/camera/traffic_light/camera_info"/> | ||
| <arg name="traffic_light_info_topic_name" default="/sensing/camera/camera6/camera_info"/> | ||
| <node pkg="topic_tools" exec="relay" name="traffic_light_image_relay" args="$(var traffic_light_image_original_name) $(var traffic_light_image_topic_name)"/> | ||
| <node pkg="topic_tools" exec="relay" name="traffic_light_info_relay" args="$(var traffic_light_info_original_name) $(var traffic_light_info_topic_name)"/> | ||
|
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| <group scoped="false"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml"> | ||
| <!-- Common --> | ||
| <arg name="map_path" value="$(var map_path)"/> | ||
| <arg name="vehicle_model" value="$(var vehicle_model)"/> | ||
| <arg name="sensor_model" value="$(var sensor_model)"/> | ||
| <arg name="data_path" value="$(var data_path)"/> | ||
| <!-- launch module preset --> | ||
| <arg name="planning_module_preset" value="$(var planning_module_preset)"/> | ||
| <!-- Modules to be launched --> | ||
| <arg name="launch_vehicle" value="$(var vehicle)"/> | ||
| <arg name="launch_map" value="$(var map)"/> | ||
| <arg name="launch_sensing" value="$(var sensing)"/> | ||
| <arg name="launch_localization" value="$(var localization)"/> | ||
| <arg name="launch_perception" value="$(var perception)"/> | ||
| <arg name="launch_planning" value="$(var planning)"/> | ||
| <arg name="launch_control" value="$(var control)"/> | ||
| <!-- Global parameters --> | ||
| <arg name="use_sim_time" value="true"/> | ||
| <!-- Vehicle --> | ||
| <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/> | ||
| <!-- Map --> | ||
| <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/> | ||
| <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/> | ||
| <!-- System --> | ||
| <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/> | ||
| <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/> | ||
| <arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/> | ||
| <!-- Sensing --> | ||
| <arg name="launch_sensing_driver" value="false"/> | ||
| <!-- Perception--> | ||
| <arg name="perception_mode" value="lidar"/> | ||
| <arg name="use_traffic_light_recognition" value="true"/> | ||
| <arg name="traffic_light_recognition/enable_fine_detection" value="false"/> | ||
| <arg name="traffic_light_recognition/fusion_only" value="false"/> | ||
| <arg name="lidar_detection_model" value="centerpoint"/> | ||
| <!-- Tools --> | ||
| <arg name="rviz" value="$(var rviz)"/> | ||
| <arg name="rviz_config" value="$(var rviz_config)"/> | ||
| </include> | ||
| </group> | ||
| </launch> |