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feat: add split launch (autowarefoundation#651)
* feat: add split launch * style(pre-commit): autofix --------- Co-authored-by: 0x126 <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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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="use_pointcloud_container" default="true" description="launch pointcloud container"/> | ||
| <arg name="pointcloud_container_name" default="pointcloud_container"/> | ||
| <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/> | ||
|
|
||
| <!-- launch module preset --> | ||
| <arg name="planning_module_preset" default="x2" description="planning module preset"/> | ||
|
|
||
| <!-- Optional parameters --> | ||
| <!-- Modules to be launched --> | ||
| <arg name="launch_vehicle" default="true" description="launch vehicle"/> | ||
| <arg name="launch_system" default="true" description="launch system"/> | ||
| <arg name="launch_map" default="true" description="launch map"/> | ||
| <arg name="launch_sensing" default="true" description="launch sensing"/> | ||
| <arg name="launch_sensing_driver" default="true" description="launch sensing driver"/> | ||
| <arg name="launch_localization" default="true" description="launch localization"/> | ||
| <arg name="launch_perception" default="true" description="launch perception"/> | ||
| <arg name="launch_planning" default="true" description="launch planning"/> | ||
| <arg name="launch_control" default="true" description="launch control"/> | ||
| <arg name="launch_v2x" default="true" description="launch V2X"/> | ||
| <arg name="launch_l4_toolkit" default="true" description="launch L4 Toolkit"/> | ||
| <!-- Global parameters --> | ||
| <arg name="use_sim_time" default="false" description="use_sim_time"/> | ||
| <!-- Vehicle --> | ||
| <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/> | ||
| <arg name="launch_vehicle_interface" default="true" description="launch vehicle interface"/> | ||
| <!-- Control --> | ||
| <arg name="check_external_emergency_heartbeat" default="false"/> | ||
| <!-- 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"/> | ||
| <!-- System --> | ||
| <arg name="system_run_mode" default="online" description="run mode in system"/> | ||
| <arg name="launch_system_monitor" default="true" 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="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/> | ||
| <!-- Tools --> | ||
| <arg name="rviz" default="false" description="launch rviz"/> | ||
| <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/> | ||
| <arg name="rviz_respawn" default="true"/> | ||
| <!-- Perception --> | ||
| <arg name="perception_mode" default="camera_lidar_radar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/> | ||
| <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/> | ||
| <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/> | ||
| <!-- Auto mode setting--> | ||
| <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/> | ||
| <arg name="is_simulation" default="false" description="Autoware's behavior will change depending on whether this is a simulation or not."/> | ||
|
|
||
| <!-- Global parameters --> | ||
| <group scoped="false"> | ||
| <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py"> | ||
| <arg name="use_sim_time" value="$(var use_sim_time)"/> | ||
| <arg name="vehicle_model" value="$(var vehicle_model)"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- Pointcloud container --> | ||
| <group if="$(var use_pointcloud_container)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py"> | ||
| <arg name="use_multithread" value="true"/> | ||
| <arg name="container_name" value="$(var pointcloud_container_name)"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- Vehicle --> | ||
| <group if="$(var launch_vehicle)"> | ||
| <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml"> | ||
| <arg name="vehicle_model" value="$(var vehicle_model)"/> | ||
| <arg name="sensor_model" value="$(var sensor_model)"/> | ||
| <arg name="vehicle_id" value="$(var vehicle_id)"/> | ||
| <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/> | ||
| <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- System --> | ||
| <group if="$(var launch_system)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_system_component.main.launch.xml"/> | ||
| </group> | ||
|
|
||
| <!-- Map --> | ||
| <group if="$(var launch_map)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml"/> | ||
| </group> | ||
|
|
||
| <!-- Sensing --> | ||
| <group if="$(var launch_sensing)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_sensing_component.launch.xml"/> | ||
| </group> | ||
|
|
||
| <!-- Localization --> | ||
| <group if="$(var launch_localization)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_localization_component.launch.xml"/> | ||
| </group> | ||
|
|
||
| <!-- Perception --> | ||
| <group if="$(var launch_perception)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml"> | ||
| <arg name="data_path" value="$(var data_path)"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- Planning --> | ||
| <!-- <group if="$(var launch_planning)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml"> | ||
| <arg name="module_preset" value="$(var planning_module_preset)"/> | ||
| <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/> | ||
| <arg name="is_simulation" value="$(var is_simulation)"/> | ||
| </include> | ||
| </group> --> | ||
|
|
||
| <!-- Control --> | ||
| <!-- <group if="$(var launch_control)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml"/> | ||
| </group> --> | ||
|
|
||
| <!-- API --> | ||
| <!-- <group> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_autoware_api_component.launch.xml"/> | ||
| </group> --> | ||
|
|
||
| <!-- V2X --> | ||
| <group if="$(var launch_v2x)"> | ||
| <include file="$(find-pkg-share jpn_signal_launcher)/launch/jpn_signal.launch.xml"> | ||
| <arg name="map_path" value="$(var map_path)"/> | ||
| <arg name="vehicle_model" value="$(var vehicle_model)"/> | ||
| <arg name="vehicle_id" value="1"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- L4 Toolkit --> | ||
| <group if="$(var launch_l4_toolkit)"> | ||
| <include file="$(find-pkg-share l4_toolkit_launch)/launch/l4_toolkit.launch.xml"/> | ||
| </group> | ||
|
|
||
| <!-- Tools --> | ||
| <!-- <group> | ||
| <node | ||
| pkg="rviz2" | ||
| exec="rviz2" | ||
| name="rviz2" | ||
| output="screen" | ||
| args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" | ||
| if="$(var rviz)" | ||
| respawn="$(var rviz_respawn)" | ||
| /> | ||
| <group if="$(var launch_system)"> | ||
| <include file="$(find-pkg-share diagnostic_graph_aggregator)/launch/converter.launch.xml"> | ||
| <arg name="complement" value="true"/> | ||
| </include> | ||
| </group> | ||
| </group> --> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,158 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <!-- Essential parameters --> | ||
| <arg name="map_path" description="point cloud and lanelet2 map directory path"/> | ||
| <arg name="vehicle_model" description="vehicle model name"/> | ||
| <arg name="sensor_model" description="sensor model name"/> | ||
| <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/> | ||
| <arg name="pointcloud_container_name" default="pointcloud_container"/> | ||
| <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/> | ||
|
|
||
| <!-- launch module preset --> | ||
| <arg name="planning_module_preset" default="x2" description="planning module preset"/> | ||
|
|
||
| <!-- Optional parameters --> | ||
| <!-- Modules to be launched --> | ||
| <arg name="launch_vehicle" default="true" description="launch vehicle"/> | ||
| <arg name="launch_system" default="true" description="launch system"/> | ||
| <arg name="launch_map" default="true" description="launch map"/> | ||
| <arg name="launch_sensing" default="true" description="launch sensing"/> | ||
| <arg name="launch_sensing_driver" default="true" description="launch sensing driver"/> | ||
| <arg name="launch_localization" default="true" description="launch localization"/> | ||
| <arg name="launch_perception" default="true" description="launch perception"/> | ||
| <arg name="launch_planning" default="true" description="launch planning"/> | ||
| <arg name="launch_control" default="true" description="launch control"/> | ||
| <arg name="launch_v2x" default="true" description="launch V2X"/> | ||
| <arg name="launch_l4_toolkit" default="true" description="launch L4 Toolkit"/> | ||
| <!-- Global parameters --> | ||
| <arg name="use_sim_time" default="false" description="use_sim_time"/> | ||
| <!-- Vehicle --> | ||
| <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/> | ||
| <arg name="launch_vehicle_interface" default="true" description="launch vehicle interface"/> | ||
| <!-- Control --> | ||
| <arg name="check_external_emergency_heartbeat" default="false"/> | ||
| <!-- Map --> | ||
| <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/> | ||
| <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/> | ||
| <!-- System --> | ||
| <arg name="system_run_mode" default="online" description="run mode in system"/> | ||
| <arg name="launch_system_monitor" default="false" description="launch system monitor"/> | ||
| <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/> | ||
| <arg name="system_error_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/> | ||
| <!-- Tools --> | ||
| <arg name="rviz" default="false" description="launch rviz"/> | ||
| <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/> | ||
| <arg name="rviz_respawn" default="true"/> | ||
| <!-- Perception --> | ||
| <arg name="perception_mode" default="camera_lidar_radar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/> | ||
| <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/> | ||
| <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/> | ||
| <!-- Auto mode setting--> | ||
| <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/> | ||
| <arg name="is_simulation" default="false" description="Autoware's behavior will change depending on whether this is a simulation or not."/> | ||
|
|
||
| <!-- Global parameters --> | ||
| <group scoped="false"> | ||
| <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py"> | ||
| <arg name="use_sim_time" value="$(var use_sim_time)"/> | ||
| <arg name="vehicle_model" value="$(var vehicle_model)"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- Pointcloud container --> | ||
| <!-- <group if="$(var use_pointcloud_container)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py"> | ||
| <arg name="use_multithread" value="true"/> | ||
| <arg name="container_name" value="$(var pointcloud_container_name)"/> | ||
| </include> | ||
| </group> --> | ||
|
|
||
| <!-- Vehicle --> | ||
| <!-- <group if="$(var launch_vehicle)"> | ||
| <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml"> | ||
| <arg name="vehicle_model" value="$(var vehicle_model)"/> | ||
| <arg name="sensor_model" value="$(var sensor_model)"/> | ||
| <arg name="vehicle_id" value="$(var vehicle_id)"/> | ||
| <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/> | ||
| <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/> | ||
| </include> | ||
| </group> --> | ||
|
|
||
| <!-- System --> | ||
| <group if="$(var launch_system)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_system_component.launch.xml"/> | ||
| </group> | ||
|
|
||
| <!-- Map --> | ||
| <!-- <group if="$(var launch_map)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml"/> | ||
| </group> --> | ||
|
|
||
| <!-- Sensing --> | ||
| <!-- <group if="$(var launch_sensing)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_sensing_component.launch.xml"/> | ||
| </group> --> | ||
|
|
||
| <!-- Localization --> | ||
| <!-- <group if="$(var launch_localization)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_localization_component.launch.xml"/> | ||
| </group> --> | ||
|
|
||
| <!-- Perception --> | ||
| <!-- <group if="$(var launch_perception)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml"> | ||
| <arg name="data_path" value="$(var data_path)"/> | ||
| </include> | ||
| </group> --> | ||
|
|
||
| <!-- Planning --> | ||
| <group if="$(var launch_planning)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml"> | ||
| <arg name="module_preset" value="$(var planning_module_preset)"/> | ||
| <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/> | ||
| <arg name="is_simulation" value="$(var is_simulation)"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- Control --> | ||
| <group if="$(var launch_control)"> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml"/> | ||
| </group> | ||
|
|
||
| <!-- API --> | ||
| <group> | ||
| <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_autoware_api_component.launch.xml"/> | ||
| </group> | ||
|
|
||
| <!-- V2X --> | ||
| <!-- <group if="$(var launch_v2x)"> | ||
| <include file="$(find-pkg-share jpn_signal_launcher)/launch/jpn_signal.launch.xml"> | ||
| <arg name="map_path" value="$(var map_path)"/> | ||
| <arg name="vehicle_model" value="$(var vehicle_model)"/> | ||
| <arg name="vehicle_id" value="1"/> | ||
| </include> | ||
| </group> --> | ||
|
|
||
| <!-- L4 Toolkit --> | ||
| <!-- <group if="$(var launch_l4_toolkit)"> | ||
| <include file="$(find-pkg-share l4_toolkit_launch)/launch/l4_toolkit.launch.xml"/> | ||
| </group> --> | ||
|
|
||
| <!-- Tools --> | ||
| <group> | ||
| <node | ||
| pkg="rviz2" | ||
| exec="rviz2" | ||
| name="rviz2" | ||
| output="screen" | ||
| args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" | ||
| if="$(var rviz)" | ||
| respawn="$(var rviz_respawn)" | ||
| /> | ||
| <group if="$(var launch_system)"> | ||
| <include file="$(find-pkg-share diagnostic_graph_aggregator)/launch/converter.launch.xml"> | ||
| <arg name="complement" value="true"/> | ||
| </include> | ||
| </group> | ||
| </group> | ||
| </launch> |
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autoware_launch/launch/components/tier4_system_component.main.launch.xml
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,31 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="launch_system_monitor" default="$(var launch_system_monitor)"/> | ||
|
|
||
| <arg name="system_monitor_cpu_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/> | ||
| <arg name="system_monitor_gpu_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/> | ||
| <arg name="system_monitor_hdd_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_monitor/hdd_monitor.param.yaml"/> | ||
| <arg name="system_monitor_mem_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_monitor/mem_monitor.param.yaml"/> | ||
| <arg name="system_monitor_net_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_monitor/net_monitor.param.yaml"/> | ||
| <arg name="system_monitor_ntp_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_monitor/ntp_monitor.param.yaml"/> | ||
| <arg name="system_monitor_process_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_monitor/process_monitor.param.yaml"/> | ||
| <arg name="system_monitor_voltage_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/system/system_monitor/voltage_monitor.param.yaml"/> | ||
|
|
||
| <group> | ||
| <push-ros-namespace namespace="/system"/> | ||
| <!-- System Monitor --> | ||
| <group if="$(var launch_system_monitor)"> | ||
| <push-ros-namespace namespace="system_monitor"/> | ||
| <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.xml"> | ||
| <arg name="cpu_monitor_config_file" value="$(var system_monitor_cpu_monitor_param_path)"/> | ||
| <arg name="gpu_monitor_config_file" value="$(var system_monitor_gpu_monitor_param_path)"/> | ||
| <arg name="hdd_monitor_config_file" value="$(var system_monitor_hdd_monitor_param_path)"/> | ||
| <arg name="mem_monitor_config_file" value="$(var system_monitor_mem_monitor_param_path)"/> | ||
| <arg name="net_monitor_config_file" value="$(var system_monitor_net_monitor_param_path)"/> | ||
| <arg name="ntp_monitor_config_file" value="$(var system_monitor_ntp_monitor_param_path)"/> | ||
| <arg name="process_monitor_config_file" value="$(var system_monitor_process_monitor_param_path)"/> | ||
| <arg name="voltage_monitor_config_file" value="$(var system_monitor_voltage_monitor_param_path)"/> | ||
| </include> | ||
| </group> | ||
| </group> | ||
| </launch> |