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Merge pull request autowarefoundation#780 from tier4/sync-awf-autowar…
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…e-launch

chore: sync awf/autoware_launch
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tier4-autoware-public-bot[bot] authored Feb 16, 2023
2 parents a7c094c + 75f22d2 commit 31f0cc0
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Showing 10 changed files with 27 additions and 136 deletions.
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/**:
ros__parameters:
required_diags:

# control
joy_controller_connection: default

# localization
localization_accuracy: default
ndt_scan_matcher: default

# system
bagpacker: default
NTP Offset: default
CPU Temperature: default
CPU Usage: default
CPU Thermal Throttling: default
CPU Frequency: default
CPU Load Average: default
GPU Temperature: default
GPU Usage: default
GPU Memory Usage: default
GPU Thermal Throttling: default
Memory Usage: default
Network Usage: default
Network Traffic: default
HDD Temperature: default
HDD Usage: default
HDD PowerOnHours: default
HDD TotalDataWritten: default
High-load: default
High-mem: default
Tasks Summary: default

#vehicle
vehicle_errors: default
dummy_diag_empty: default

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29 changes: 4 additions & 25 deletions autoware_launch/launch/autoware.launch.xml
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<!-- System -->
<group if="$(var launch_system)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_system_component.launch.xml">
<arg name="run_mode" value="$(var system_run_mode)"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
</include>
<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">
<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>
<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 tier4_sensing_launch)/launch/sensing.launch.xml">
<arg name="launch_driver" value="$(var launch_sensing_driver)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="perception_mode" value="$(var perception_mode)"/>
</include>
<include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml"/>
</group>

<!-- Localization -->
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<!-- Perception -->
<group if="$(var launch_perception)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
<arg name="mode" value="$(var perception_mode)"/>
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
</include>
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml"/>
</group>

<!-- Planning -->
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<?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="$(var pointcloud_map_path)"/>
<arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>

<arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
<arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>
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<?xml version="1.0"?>
<launch>
<arg name="mode"/>
<arg name="vehicle_param_file"/>
<arg name="use_pointcloud_container"/>
<arg name="pointcloud_container_name"/>
<arg name="enable_fine_detection"/>

<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
<arg name="mode" value="$(var mode)"/>
<arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
<arg name="mode" value="$(var perception_mode)"/>
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
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<?xml version="1.0"?>
<launch>
<include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
<arg name="launch_driver" value="$(var launch_sensing_driver)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
</launch>
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="run_mode" default="online" description="options: online, planning_simulation"/>
<arg name="sensor_model" description="sensor model name"/>
<arg name="launch_system_monitor" default="true" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>

<include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">

<arg name="run_mode" value="$(var run_mode)"/>.
<arg name="run_mode" value="$(var system_run_mode)"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
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3 changes: 3 additions & 0 deletions autoware_launch/launch/logging_simulator.launch.xml
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Expand Up @@ -26,6 +26,7 @@
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
<!-- System -->
<arg name="launch_system_monitor" default="false" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
<!-- Tools -->
<arg name="rviz" default="true" description="launch rviz"/>
<!-- Scenario simulation -->
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<!-- System -->
<arg name="launch_system" value="$(var system)"/>
<arg name="system_run_mode" value="online"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
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2 changes: 1 addition & 1 deletion autoware_launch/launch/planning_simulator.launch.xml
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Expand Up @@ -11,7 +11,7 @@
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
<!-- System -->
<arg name="launch_system_monitor" default="false" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" default="true" description="launch dummy diag publisher"/>
<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
<!-- Tools -->
<arg name="rviz" default="true" description="launch rviz"/>
<arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
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