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feat(scenario_test_runner): add consider_acceleration_by_road_slope f…
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…or simple_sensor_simulator

Signed-off-by: Kotaro Yoshimoto <[email protected]>
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@HansRobo
HansRobo committed Feb 2, 2024
1 parent a4ef2cd commit f390e22
Showing 1 changed file with 60 additions and 57 deletions.
117 changes: 60 additions & 57 deletions test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -60,45 +60,47 @@ def default_autoware_launch_file_of(architecture_type):

def launch_setup(context, *args, **kwargs):
# fmt: off
architecture_type = LaunchConfiguration("architecture_type", default="awf/universe")
autoware_launch_file = LaunchConfiguration("autoware_launch_file", default=default_autoware_launch_file_of(architecture_type.perform(context)))
autoware_launch_package = LaunchConfiguration("autoware_launch_package", default=default_autoware_launch_package_of(architecture_type.perform(context)))
global_frame_rate = LaunchConfiguration("global_frame_rate", default=30.0)
global_real_time_factor = LaunchConfiguration("global_real_time_factor", default=1.0)
global_timeout = LaunchConfiguration("global_timeout", default=180)
initialize_duration = LaunchConfiguration("initialize_duration", default=30)
launch_autoware = LaunchConfiguration("launch_autoware", default=True)
launch_rviz = LaunchConfiguration("launch_rviz", default=False)
launch_simple_sensor_simulator = LaunchConfiguration("launch_simple_sensor_simulator", default=True)
output_directory = LaunchConfiguration("output_directory", default=Path("/tmp"))
port = LaunchConfiguration("port", default=5555)
record = LaunchConfiguration("record", default=True)
rviz_config = LaunchConfiguration("rviz_config", default="")
scenario = LaunchConfiguration("scenario", default=Path("/dev/null"))
sensor_model = LaunchConfiguration("sensor_model", default="")
sigterm_timeout = LaunchConfiguration("sigterm_timeout", default=8)
vehicle_model = LaunchConfiguration("vehicle_model", default="")
workflow = LaunchConfiguration("workflow", default=Path("/dev/null"))
architecture_type = LaunchConfiguration("architecture_type", default="awf/universe")
autoware_launch_file = LaunchConfiguration("autoware_launch_file", default=default_autoware_launch_file_of(architecture_type.perform(context)))
autoware_launch_package = LaunchConfiguration("autoware_launch_package", default=default_autoware_launch_package_of(architecture_type.perform(context)))
consider_acceleration_by_road_slope = LaunchConfiguration("consider_acceleration_by_road_slope", default=False)
global_frame_rate = LaunchConfiguration("global_frame_rate", default=30.0)
global_real_time_factor = LaunchConfiguration("global_real_time_factor", default=1.0)
global_timeout = LaunchConfiguration("global_timeout", default=180)
initialize_duration = LaunchConfiguration("initialize_duration", default=30)
launch_autoware = LaunchConfiguration("launch_autoware", default=True)
launch_rviz = LaunchConfiguration("launch_rviz", default=False)
launch_simple_sensor_simulator = LaunchConfiguration("launch_simple_sensor_simulator", default=True)
output_directory = LaunchConfiguration("output_directory", default=Path("/tmp"))
port = LaunchConfiguration("port", default=5555)
record = LaunchConfiguration("record", default=True)
rviz_config = LaunchConfiguration("rviz_config", default="")
scenario = LaunchConfiguration("scenario", default=Path("/dev/null"))
sensor_model = LaunchConfiguration("sensor_model", default="")
sigterm_timeout = LaunchConfiguration("sigterm_timeout", default=8)
vehicle_model = LaunchConfiguration("vehicle_model", default="")
workflow = LaunchConfiguration("workflow", default=Path("/dev/null"))
# fmt: on

print(f"architecture_type := {architecture_type.perform(context)}")
print(f"autoware_launch_file := {autoware_launch_file.perform(context)}")
print(f"autoware_launch_package := {autoware_launch_package.perform(context)}")
print(f"global_frame_rate := {global_frame_rate.perform(context)}")
print(f"global_real_time_factor := {global_real_time_factor.perform(context)}")
print(f"global_timeout := {global_timeout.perform(context)}")
print(f"initialize_duration := {initialize_duration.perform(context)}")
print(f"launch_autoware := {launch_autoware.perform(context)}")
print(f"launch_rviz := {launch_rviz.perform(context)}")
print(f"output_directory := {output_directory.perform(context)}")
print(f"port := {port.perform(context)}")
print(f"record := {record.perform(context)}")
print(f"rviz_config := {rviz_config.perform(context)}")
print(f"scenario := {scenario.perform(context)}")
print(f"sensor_model := {sensor_model.perform(context)}")
print(f"sigterm_timeout := {sigterm_timeout.perform(context)}")
print(f"vehicle_model := {vehicle_model.perform(context)}")
print(f"workflow := {workflow.perform(context)}")
print(f"architecture_type := {architecture_type.perform(context)}")
print(f"autoware_launch_file := {autoware_launch_file.perform(context)}")
print(f"autoware_launch_package := {autoware_launch_package.perform(context)}")
print(f"consider_acceleration_by_road_slope := {consider_acceleration_by_road_slope.perform(context)}")
print(f"global_frame_rate := {global_frame_rate.perform(context)}")
print(f"global_real_time_factor := {global_real_time_factor.perform(context)}")
print(f"global_timeout := {global_timeout.perform(context)}")
print(f"initialize_duration := {initialize_duration.perform(context)}")
print(f"launch_autoware := {launch_autoware.perform(context)}")
print(f"launch_rviz := {launch_rviz.perform(context)}")
print(f"output_directory := {output_directory.perform(context)}")
print(f"port := {port.perform(context)}")
print(f"record := {record.perform(context)}")
print(f"rviz_config := {rviz_config.perform(context)}")
print(f"scenario := {scenario.perform(context)}")
print(f"sensor_model := {sensor_model.perform(context)}")
print(f"sigterm_timeout := {sigterm_timeout.perform(context)}")
print(f"vehicle_model := {vehicle_model.perform(context)}")
print(f"workflow := {workflow.perform(context)}")

def make_parameters():
parameters = [
Expand All @@ -115,7 +117,7 @@ def make_parameters():
]
parameters += make_vehicle_parameters()
return parameters

def make_vehicle_parameters():
parameters = []

Expand All @@ -131,21 +133,21 @@ def description():

return [
# fmt: off
DeclareLaunchArgument("architecture_type", default_value=architecture_type ),
DeclareLaunchArgument("autoware_launch_file", default_value=autoware_launch_file ),
DeclareLaunchArgument("architecture_type", default_value=architecture_type),
DeclareLaunchArgument("autoware_launch_file", default_value=autoware_launch_file),
DeclareLaunchArgument("autoware_launch_package", default_value=autoware_launch_package),
DeclareLaunchArgument("global_frame_rate", default_value=global_frame_rate ),
DeclareLaunchArgument("global_frame_rate", default_value=global_frame_rate),
DeclareLaunchArgument("global_real_time_factor", default_value=global_real_time_factor),
DeclareLaunchArgument("global_timeout", default_value=global_timeout ),
DeclareLaunchArgument("launch_autoware", default_value=launch_autoware ),
DeclareLaunchArgument("launch_rviz", default_value=launch_rviz ),
DeclareLaunchArgument("output_directory", default_value=output_directory ),
DeclareLaunchArgument("rviz_config", default_value=rviz_config ),
DeclareLaunchArgument("scenario", default_value=scenario ),
DeclareLaunchArgument("sensor_model", default_value=sensor_model ),
DeclareLaunchArgument("sigterm_timeout", default_value=sigterm_timeout ),
DeclareLaunchArgument("vehicle_model", default_value=vehicle_model ),
DeclareLaunchArgument("workflow", default_value=workflow ),
DeclareLaunchArgument("global_timeout", default_value=global_timeout),
DeclareLaunchArgument("launch_autoware", default_value=launch_autoware),
DeclareLaunchArgument("launch_rviz", default_value=launch_rviz),
DeclareLaunchArgument("output_directory", default_value=output_directory),
DeclareLaunchArgument("rviz_config", default_value=rviz_config),
DeclareLaunchArgument("scenario", default_value=scenario),
DeclareLaunchArgument("sensor_model", default_value=sensor_model),
DeclareLaunchArgument("sigterm_timeout", default_value=sigterm_timeout),
DeclareLaunchArgument("vehicle_model", default_value=vehicle_model),
DeclareLaunchArgument("workflow", default_value=workflow),
# fmt: on
Node(
package="scenario_test_runner",
Expand All @@ -156,12 +158,12 @@ def description():
on_exit=ShutdownOnce(),
arguments=[
# fmt: off
"--global-frame-rate", global_frame_rate,
"--global-frame-rate", global_frame_rate,
"--global-real-time-factor", global_real_time_factor,
"--global-timeout", global_timeout,
"--output-directory", output_directory,
"--scenario", scenario,
"--workflow", workflow,
"--global-timeout", global_timeout,
"--output-directory", output_directory,
"--scenario", scenario,
"--workflow", workflow,
# fmt: on
],
),
Expand All @@ -171,7 +173,8 @@ def description():
namespace="simulation",
output="screen",
on_exit=ShutdownOnce(),
parameters=[{"port": port}]+make_vehicle_parameters(),
parameters=[{"port": port}, {"consider_acceleration_by_road_slope",
consider_acceleration_by_road_slope}] + make_vehicle_parameters(),
condition=IfCondition(launch_simple_sensor_simulator),
),
# The `name` keyword overrides the name for all created nodes, so duplicated nodes appear.
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