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refactor: add xml version of control launch
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Signed-off-by: mitukou1109 <[email protected]>
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@mitukou1109
mitukou1109 committed Jul 2, 2024
1 parent 5276c02 commit 6a21503
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283 changes: 283 additions & 0 deletions launch/tier4_control_launch/launch/control.launch.xml
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<launch>
<!-- option -->
<arg name="enable_obstacle_collision_checker" />
<arg name="lateral_controller_mode" />
<arg name="longitudinal_controller_mode" />
<arg name="enable_autonomous_emergency_braking" />
<arg name="check_external_emergency_heartbeat" />
<arg name="trajectory_follower_mode" />

<!-- common param path -->
<arg name="vehicle_param_file" />
<arg name="nearest_search_param_path" />

<!-- package param path -->
<arg name="trajectory_follower_node_param_path" />
<arg name="lat_controller_param_path" />
<arg name="lon_controller_param_path" />
<arg name="vehicle_cmd_gate_param_path" />
<arg name="lane_departure_checker_param_path" />
<arg name="control_validator_param_path" />
<arg name="operation_mode_transition_manager_param_path" />
<arg name="shift_decider_param_path" />
<arg name="obstacle_collision_checker_param_path" />
<arg name="external_cmd_selector_param_path" />
<arg name="aeb_param_path" />
<arg name="predicted_path_checker_param_path" />

<!-- component -->
<arg name="use_intra_process" default="false"
description="use ROS 2 component container communication" />
<arg name="use_multithread" default="true" description="use multithread" />

<let name="container_executable" value="component_container" unless="$(var use_multithread)" />
<let name="container_executable" value="component_container_mt" if="$(var use_multithread)" />

<group>
<push-ros-namespace namespace="control" />

<group>
<!-- set container to run all required components in the same process -->
<node_container pkg="rclcpp_components" exec="$(var container_executable)"
name="control_container" namespace="" />

<load_composable_node target="/control/control_container"
if="$(eval &quot;'$(var trajectory_follower_mode)' == 'trajectory_follower_node'&quot;)">
<composable_node pkg="autoware_trajectory_follower_node"
plugin="autoware::motion::control::trajectory_follower_node::Controller"
name="controller_node_exe" namespace="trajectory_follower">
<remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory" />
<remap from="~/input/current_odometry" to="/localization/kinematic_state" />
<remap from="~/input/current_steering" to="/vehicle/status/steering_status" />
<remap from="~/input/current_accel" to="/localization/acceleration" />
<remap from="~/input/current_operation_mode" to="/system/operation_mode/state" />
<remap from="~/output/predicted_trajectory" to="lateral/predicted_trajectory" />
<remap from="~/output/lateral_diagnostic" to="lateral/diagnostic" />
<remap from="~/output/slope_angle" to="longitudinal/slope_angle" />
<remap from="~/output/longitudinal_diagnostic" to="longitudinal/diagnostic" />
<remap from="~/output/stop_reason" to="longitudinal/stop_reason" />
<remap from="~/output/control_cmd" to="control_cmd" />
<param name="lateral_controller_mode" value="$(var lateral_controller_mode)" />
<param name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)" />
<param from="$(var nearest_search_param_path)" />
<param from="$(var trajectory_follower_node_param_path)" />
<param from="$(var lon_controller_param_path)" />
<param from="$(var lat_controller_param_path)" />
<param from="$(var vehicle_param_file)" />
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)" />
</composable_node>
</load_composable_node>

<load_composable_node target="/control/control_container">
<!-- lane departure checker -->
<composable_node pkg="autoware_lane_departure_checker"
plugin="autoware::lane_departure_checker::LaneDepartureCheckerNode"
name="lane_departure_checker_node"
namespace="trajectory_follower">
<remap from="~/input/odometry" to="/localization/kinematic_state" />
<remap from="~/input/lanelet_map_bin" to="/map/vector_map" />
<remap from="~/input/route" to="/planning/mission_planning/route" />
<remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory" />
<remap from="~/input/predicted_trajectory"
to="/control/trajectory_follower/lateral/predicted_trajectory" />
<param from="$(var nearest_search_param_path)" />
<param from="$(var lane_departure_checker_param_path)" />
<param from="$(var vehicle_param_file)" />
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)" />
</composable_node>

<!-- shift decider -->
<composable_node pkg="autoware_shift_decider" plugin="autoware::shift_decider::ShiftDecider"
name="autoware_shift_decider">
<remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd" />
<remap from="input/state" to="/autoware/state" />
<remap from="input/current_gear" to="/vehicle/status/gear_status" />
<remap from="output/gear_cmd" to="/control/shift_decider/gear_cmd" />
<param from="$(var shift_decider_param_path)" />
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)" />
</composable_node>

<!-- vehicle cmd gate -->
<composable_node pkg="autoware_vehicle_cmd_gate"
plugin="autoware::vehicle_cmd_gate::VehicleCmdGate"
name="vehicle_cmd_gate">
<remap from="input/steering" to="/vehicle/status/steering_status" />
<remap from="input/operation_mode" to="/system/operation_mode/state" />
<remap from="input/auto/control_cmd" to="/control/trajectory_follower/control_cmd" />
<remap from="input/auto/turn_indicators_cmd" to="/planning/turn_indicators_cmd" />
<remap from="input/auto/hazard_lights_cmd" to="/planning/hazard_lights_cmd" />
<remap from="input/auto/gear_cmd" to="/control/shift_decider/gear_cmd" />
<remap from="input/external/control_cmd" to="/external/selected/control_cmd" />
<remap from="input/external/turn_indicators_cmd"
to="/external/selected/turn_indicators_cmd" />
<remap from="input/external/hazard_lights_cmd" to="/external/selected/hazard_lights_cmd" />
<remap from="input/external/gear_cmd" to="/external/selected/gear_cmd" />
<remap from="input/external_emergency_stop_heartbeat" to="/external/selected/heartbeat" />
<remap from="input/gate_mode" to="/control/gate_mode_cmd" />
<remap from="input/emergency/control_cmd" to="/system/emergency/control_cmd" />
<remap from="input/emergency/hazard_lights_cmd" to="/system/emergency/hazard_lights_cmd" />
<remap from="input/emergency/gear_cmd" to="/system/emergency/gear_cmd" />
<remap from="input/mrm_state" to="/system/fail_safe/mrm_state" />
<remap from="input/kinematics" to="/localization/kinematic_state" />
<remap from="input/acceleration" to="/localization/acceleration" />
<remap from="output/vehicle_cmd_emergency" to="/control/command/emergency_cmd" />
<remap from="output/control_cmd" to="/control/command/control_cmd" />
<remap from="output/gear_cmd" to="/control/command/gear_cmd" />
<remap from="output/turn_indicators_cmd" to="/control/command/turn_indicators_cmd" />
<remap from="output/hazard_lights_cmd" to="/control/command/hazard_lights_cmd" />
<remap from="output/gate_mode" to="/control/current_gate_mode" />
<remap from="output/engage" to="/api/autoware/get/engage" />
<remap from="output/external_emergency" to="/api/autoware/get/emergency" />
<remap from="output/operation_mode" to="/control/vehicle_cmd_gate/operation_mode" />
<remap from="~/service/engage" to="/api/autoware/set/engage" />
<remap from="~/service/external_emergency" to="/api/autoware/set/emergency" />
<!-- TODO(Takagi, Isamu): deprecated -->
<remap from="input/engage" to="/autoware/engage" />
<remap from="~/service/external_emergency_stop" to="~/external_emergency_stop" />
<remap from="~/service/clear_external_emergency_stop" to="~/clear_external_emergency_stop" />
<param from="$(var vehicle_cmd_gate_param_path)" />
<param from="$(var vehicle_param_file)" />
<param name="check_external_emergency_heartbeat"
value="$(var check_external_emergency_heartbeat)" />
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)" />
</composable_node>

<!-- operation mode transition manager -->
<composable_node pkg="autoware_operation_mode_transition_manager"
plugin="autoware::operation_mode_transition_manager::OperationModeTransitionManager"
name="autoware_operation_mode_transition_manager">
<!-- input -->
<remap from="kinematics" to="/localization/kinematic_state" />
<remap from="steering" to="/vehicle/status/steering_status" />
<remap from="trajectory" to="/planning/scenario_planning/trajectory" />
<remap from="control_cmd" to="/control/command/control_cmd" />
<remap from="trajectory_follower_control_cmd"
to="/control/trajectory_follower/control_cmd" />
<remap from="control_mode_report" to="/vehicle/status/control_mode" />
<remap from="gate_operation_mode" to="/control/vehicle_cmd_gate/operation_mode" />
<!-- output -->
<remap from="is_autonomous_available" to="/control/is_autonomous_available" />
<remap from="control_mode_request" to="/control/control_mode_request" />
<param from="$(var nearest_search_param_path)" />
<param from="$(var operation_mode_transition_manager_param_path)" />
<param from="$(var vehicle_param_file)" />
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)" />
</composable_node>

<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_validator_component" />
</load_composable_node>
</group>

<!-- external cmd selector -->
<group>
<include
file="$(find-pkg-share autoware_external_cmd_selector)/launch/external_cmd_selector.launch.xml">
<arg name="use_intra_process" value="$(var use_intra_process)" />
<arg name="target_container" value="/control/control_container" />
<arg name="external_cmd_selector_param_path"
value="$(var external_cmd_selector_param_path)" />
</include>
</group>

<!-- external cmd converter -->
<group>
<include
file="$(find-pkg-share autoware_external_cmd_converter)/launch/external_cmd_converter.launch.xml">
<arg name="use_intra_process" value="$(var use_intra_process)" />
<arg name="target_container" value="/control/control_container" />
</include>
</group>

<!-- obstacle collision checker -->
<load_composable_node target="/control/control_container"
if="$(var enable_obstacle_collision_checker)">
<composable_node pkg="obstacle_collision_checker"
plugin="obstacle_collision_checker::ObstacleCollisionCheckerNode"
name="obstacle_collision_checker">
<remap from="input/lanelet_map_bin" to="/map/vector_map" />
<remap from="input/obstacle_pointcloud" to="/perception/obstacle_segmentation/pointcloud" />
<remap from="input/reference_trajectory" to="/planning/scenario_planning/trajectory" />
<remap from="input/predicted_trajectory"
to="/control/trajectory_follower/lateral/predicted_trajectory" />
<remap from="input/odometry" to="/localization/kinematic_state" />
<param from="$(var obstacle_collision_checker_param_path)" />
<param from="$(var vehicle_param_file)" />
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)" />
</composable_node>
</load_composable_node>

<!-- autonomous emergency braking -->
<load_composable_node target="/control/control_container"
if="$(var enable_autonomous_emergency_braking)">
<composable_node pkg="autoware_autonomous_emergency_braking"
plugin="autoware::motion::control::autonomous_emergency_braking::AEB"
name="autonomous_emergency_braking">
<remap from="~/input/pointcloud" to="/perception/obstacle_segmentation/pointcloud" />
<remap from="~/input/velocity" to="/vehicle/status/velocity_status" />
<remap from="~/input/imu" to="/sensing/imu/imu_data" />
<remap from="~/input/odometry" to="/localization/kinematic_state" />
<remap from="~/input/objects" to="/perception/obstacle_segmentation/objects" />
<remap from="~/input/predicted_trajectory"
to="/control/trajectory_follower/lateral/predicted_trajectory" />
<param from="$(var aeb_param_path)" />
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)" />
</composable_node>
</load_composable_node>

<!-- predicted path checker -->
<load_composable_node target="/control/control_container"
if="$(var enable_predicted_path_checker)">
<composable_node pkg="predicted_path_checker"
plugin="autoware::motion::control::predicted_path_checker::PredictedPathCheckerNode"
name="predicted_path_checker">
<remap from="~/input/objects" to="/perception/object_recognition/objects" />
<remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory" />
<remap from="~/input/current_accel" to="/localization/acceleration" />
<remap from="~/input/odometry" to="/localization/kinematic_state" />
<remap from="~/input/predicted_trajectory"
to="/control/trajectory_follower/lateral/predicted_trajectory" />
<param from="$(var vehicle_param_file)" />
<param from="$(var predicted_path_checker_param_path)" />
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)" />
</composable_node>
</load_composable_node>

<!-- control evaluator -->
<load_composable_node target="/control/control_container">
<composable_node pkg="autoware_control_evaluator"
plugin="control_diagnostics::controlEvaluatorNode"
name="control_evaluator">
<remap from="~/input/diagnostics" to="/diagnostics" />
<remap from="~/input/odometry" to="/localization/kinematic_state" />
<remap from="~/input/trajectory" to="/planning/scenario_planning/trajectory" />
<remap from="~/metrics" to="/diagnostic/control_evaluator/metrics" />
</composable_node>
</load_composable_node>
</group>

<group>
<push-ros-namespace namespace="control" />

<!-- control validator checker -->
<node_container pkg="rclcpp_components" exec="$(var container_executable)"
name="control_validator_container" namespace="">
<composable_node pkg="autoware_control_validator"
plugin="autoware::control_validator::ControlValidator" name="control_validator">
<remap from="~/input/kinematics" to="/localization/kinematic_state" />
<remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory" />
<remap from="~/input/predicted_trajectory"
to="/control/trajectory_follower/lateral/predicted_trajectory" />
<remap from="~/output/validation_status" to="~/validation_status" />
<param from="$(var control_validator_param_path)" />
</composable_node>

<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_validator_component" />
</node_container>
</group>

<group
if="$(eval &quot;'$(var trajectory_follower_mode)' == 'smart_mpc_trajectory_follower'&quot;)">
<node pkg="autoware_smart_mpc_trajectory_follower" exec="pympc_trajectory_follower.py"
name="pympc_trajectory_follower" />
</group>
</launch>

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