Rjd 736/autoware msgs support and localization sim mode support

[yamacir-kit]

Description

Abstract

Added the option simulate_localization:=<boolean> to simulate the option localization_sim_mode:=<api | pose_twist_estimator> of simple_planning_simulator.

Background

Previously, scenario_simulator_v2 also simulated Autoware's localization module, but in order to test the localization module, an option was needed to leave this to Autoware rather than doing it on the scenario_simulator_v2 side.

Feature request thread (internal link)

Details

The default is simulate_localization:=true, which performs the same operation as localization_sim_mode:=api. This is compatible with the previous scenario_simulator_v2. On the other hand, when simulate_localization:=false, it performs the same operation as localization_sim_mode:=pose_twist_estimator.

References

None.

Destructive Changes

None.

Known Limitations

None.

[github-actions]

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[sonarqubecloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
25.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud