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chore(autoware_launch): add localization_input_pointcloud argument to autoware.launch #712

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chore(autoware_launch): add localization_input_pointcloud argument to autoware.launch #712

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f7ded58
chore(autoware_launch): add localization_input_pointcloud argument to…
tkimura4 Nov 29, 2023
5ba37ae
chore: add parameter to e2e launch
tkimura4 Nov 29, 2023
e8bfd8c
chore: apply pre-commit
tkimura4 Nov 29, 2023
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2 changes: 2 additions & 0 deletions autoware_launch/launch/autoware.launch.xml
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Expand Up @@ -29,6 +29,8 @@
<!-- 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"/>
<!-- Localization -->
<arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
<!-- System -->
<arg name="system_run_mode" default="online" description="run mode in system"/>
<arg name="launch_system_monitor" default="true" description="launch system monitor"/>
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4 changes: 2 additions & 2 deletions autoware_launch/launch/components/tier4_localization_component.launch.xml
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Expand Up @@ -3,7 +3,7 @@
<let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
<arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
<arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
<arg name="input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
<arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>

<group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
Expand All @@ -12,7 +12,7 @@
<arg name="pose_source" value="$(var pose_source)"/>
<arg name="twist_source" value="$(var twist_source)"/>
<arg name="system_run_mode" value="$(var system_run_mode)"/>
<arg name="input_pointcloud" value="$(var input_pointcloud)"/>
<arg name="input_pointcloud" value="$(var localization_input_pointcloud)"/>

<!-- parameter paths for common -->
<arg name="crop_box_filter_measurement_range_param_path" value="$(var loc_config_path)/crop_box_filter_measurement_range.param.yaml"/>
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4 changes: 4 additions & 0 deletions autoware_launch/launch/e2e_simulator.launch.xml
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Expand Up @@ -19,6 +19,8 @@
<!-- Map -->
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
<!-- Localization -->
<arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
<!-- Perception -->
<arg name="traffic_light_namespace" default="traffic_light" description="traffic light recognition namespace1"/>
<!-- Control -->
Expand Down Expand Up @@ -58,6 +60,8 @@
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
<!-- Localization -->
<arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)"/>
<!-- System -->
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
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4 changes: 4 additions & 0 deletions autoware_launch/launch/logging_simulator.launch.xml
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Expand Up @@ -25,6 +25,8 @@
<!-- 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"/>
<!-- Localization -->
<arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
<!-- 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"/>
Expand Down Expand Up @@ -63,6 +65,8 @@
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
<!-- Localization -->
<arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)"/>
<!-- Sensing -->
<arg name="launch_sensing_driver" value="false"/>
</include>
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4 changes: 4 additions & 0 deletions autoware_launch/launch/planning_simulator.launch.xml
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Expand Up @@ -10,6 +10,8 @@
<!-- Map -->
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
<!-- Localization -->
<arg name="localization_input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
<!-- System -->
<arg name="launch_system_monitor" default="false" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
Expand Down Expand Up @@ -54,6 +56,8 @@
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
<!-- Localization -->
<arg name="localization_input_pointcloud" value="$(var localization_input_pointcloud)"/>
<!-- Tools -->
<arg name="rviz" value="$(var rviz)"/>
<arg name="rviz_config" value="$(var rviz_config)"/>
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