refactor(autoware_launch): add map_component launcher (autowarefounda…

…tion#731) * feat(autoware_launch): add map_component launcher Signed-off-by: kminoda <[email protected]> * added lanelet2 parameter too Signed-off-by: kminoda <[email protected]> * revert the addition of lanelet2 param Signed-off-by: kminoda <[email protected]> Signed-off-by: kminoda <[email protected]>
sykwer · Jan 25, 2023 · 111cf03 · 111cf03
1 parent 9a20d12
commit 111cf03
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Showing 3 changed files with 22 additions and 1 deletion.
diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml
@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    enable_whole_load: true
+    enable_downsampled_whole_load: false
+    enable_partial_load: false
+    enable_differential_load: false
+
+    # only used when downsample_whole_load enabled
+    leaf_size: 3.0 # downsample leaf size [m]
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -73,7 +73,7 @@
 
   <!-- Map -->
   <group if="$(var launch_map)">
-    <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml">
       <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
     </include>

diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="lanelet2_map_path"/>
+  <arg name="pointcloud_map_path"/>
+
+  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
+    <arg name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
+    <arg name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
+
+    <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
+  </include>
+</launch>