From 9ecea1f850f48efded245e499a46492d524be0c4 Mon Sep 17 00:00:00 2001
From: Giovanni Muhammad Raditya <mraditya01@yahoo.com>
Date: Mon, 27 May 2024 18:15:15 +0900
Subject: [PATCH 1/2] feat(e2e_simulator.launch): add argument for running the
 CARLA interface (#924)

Signed-off-by: Giovanni Muhammad Raditya <mraditya01@yahoo.com>
---
 autoware_launch/launch/e2e_simulator.launch.xml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 902d9bc33c..0899b6055f 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -6,6 +6,7 @@
   <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="simulator_type" default="awsim" description="select the simulator type ('awsim' or 'carla')"/>
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
@@ -39,6 +40,9 @@
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
+    <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
+  </group>
 
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">

From 6bd742fb4e611b5c5e4e11f18784546ed4630496 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?=
 <xmfcx@users.noreply.github.com>
Date: Mon, 27 May 2024 12:39:18 +0300
Subject: [PATCH 2/2] fix(rviz): remove StringStampedOverlayDisplay reference
 (#1001)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
---
 autoware_launch/rviz/autoware.rviz | 16 ----------------
 1 file changed, 16 deletions(-)

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 40db36a916..9005a0fdba 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -3608,22 +3608,6 @@ Visualization Manager:
                   Value: true
               Enabled: true
               Name: Objects Of Interest
-            - Class: rviz_plugins/StringStampedOverlayDisplay
-              Enabled: true
-              Font Size: 15
-              Left: 1024
-              Max Letter Num: 100
-              Name: StringStampedOverlayDisplay
-              Text Color: 25; 255; 240
-              Top: 128
-              Topic:
-                Depth: 5
-                Durability Policy: Volatile
-                History Policy: Keep Last
-                Reliability Policy: Reliable
-                Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state
-              Value: true
-              Value height offset: 0
           Enabled: true
           Name: Planning
         - Class: rviz_common/Group