feat: split launch config by use case (#53)

* feat: split launch config by use case

Signed-off-by: Hayato Mizushima <[email protected]>

* feat: import launch_config

Signed-off-by: Hayato Mizushima <[email protected]>

* fix: replace " with '

Signed-off-by: Hayato Mizushima <[email protected]>

* fix: typo

Signed-off-by: Hayato Mizushima <[email protected]>

* fix: copyright

Signed-off-by: Hayato Mizushima <[email protected]>

---------

Signed-off-by: Hayato Mizushima <[email protected]>

driving_log_replayer_v2/driving_log_replayer_v2/launch/annotationless_perception.py

@@ -0,0 +1,35 @@
+# Copyright (c) 2024 TIER IV.inc
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+RECORD_TOPIC = """^/tf$\
+|^/sensing/lidar/concatenated/pointcloud$\
+|^/perception/object_recognition/detection/objects$\
+|^/perception/object_recognition/tracking/objects$\
+|^/perception/object_recognition/objects$\
+|^/perception/object_recognition/tracking/multi_object_tracker/debug/.*\
+|^/perception/object_recognition/detection/.*/debug/pipeline_latency_ms$\
+|^/perception/perception_online_evaluator/.*\
+"""
+
+AUTOWARE_DISABLE = {
+    "localization": "false",
+    "planning": "false",
+    "control": "false",
+}
+
+AUTOWARE_ARGS = {
+    "use_perception_online_evaluator": "true",
+}
+
+NODE_PARAMS = {}

driving_log_replayer_v2/driving_log_replayer_v2/launch/ar_tag_based_localizer.py

@@ -0,0 +1,31 @@
+# Copyright (c) 2024 TIER IV.inc
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+RECORD_TOPIC = """^/tf$\
+|^/diagnostics$"\
+|^/localization/kinematic_state$\
+"""
+
+AUTOWARE_DISABLE = {
+    "perception": "false",
+    "planning": "false",
+    "control": "false",
+}
+
+AUTOWARE_ARGS = {
+    "pose_source": "artag",
+    "twist_source": "gyro_odom",
+}
+
+NODE_PARAMS = {}

driving_log_replayer_v2/driving_log_replayer_v2/launch/eagleye.py

@@ -0,0 +1,30 @@
+# Copyright (c) 2024 TIER IV.inc
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+RECORD_TOPIC = """^/tf$\
+|^/diagnostics$"\
+|^/localization/kinematic_state$\
+|^/localization/pose_estimator/pose$\
+|^/localization/util/downsample/pointcloud$\
+|^/localization/pose_estimator/points_aligned$\
+"""
+
+AUTOWARE_DISABLE = {"perception": "false", "planning": "false", "control": "false"}
+
+AUTOWARE_ARGS = {
+    "pose_source": "eagleye",
+    "twist_source": "eagleye",
+}
+
+NODE_PARAMS = {}

driving_log_replayer_v2/driving_log_replayer_v2/launch/localization.py

@@ -0,0 +1,43 @@
+# Copyright (c) 2024 TIER IV.inc
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+RECORD_TOPIC = """^/tf$\
+|^/diagnostics$\
+|^/localization/pose_estimator/exe_time_ms$\
+|^/localization/pose_estimator/iteration_num$\
+|^/localization/pose_estimator/transform_probability$\
+|^/localization/pose_estimator/nearest_voxel_transformation_likelihood$\
+|^/localization/pose_estimator/initial_to_result_relative_pose$\
+|^/localization/pose_estimator/ndt_marker$\
+|^/localization/pose_estimator/pose$\
+|^/localization/pose_estimator/pose_with_covariance$\
+|^/localization/kinematic_state$\
+|^/localization/reference_kinematic_state$\
+|^/localization/util/downsample/pointcloud$\
+|^/localization/pose_estimator/points_aligned$\
+|^/driving_log_replayer/.*\
+"""
+
+AUTOWARE_DISABLE = {
+    "perception": "false",
+    "planning": "false",
+    "control": "false",
+}
+
+AUTOWARE_ARGS = {
+    "pose_source": "ndt",
+    "twist_source": "gyro_odom",
+}
+
+NODE_PARAMS = {}

driving_log_replayer_v2/driving_log_replayer_v2/launch/obstacle_segmentation.py

@@ -0,0 +1,36 @@
+# Copyright (c) 2024 TIER IV.inc
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch.substitutions import LaunchConfiguration
+
+RECORD_TOPIC = """^/tf$\
+|^/perception/obstacle_segmentation/pointcloud$\
+|^/planning/scenario_planning/trajectory$\
+|^/planning/scenario_planning/status/stop_reasons$\
+|^/driving_log_replayer_v2/.*\
+"""
+
+AUTOWARE_DISABLE = {
+    "localization": "false",
+    "control": "false",
+}
+
+AUTOWARE_ARGS = {
+    "scenario_simulation": "true",
+}
+
+NODE_PARAMS = {
+    "vehicle_model": LaunchConfiguration("vehicle_model"),
+    "map_path": LaunchConfiguration("map_path"),
+}

driving_log_replayer_v2/driving_log_replayer_v2/launch/perception.py

@@ -0,0 +1,34 @@
+# Copyright (c) 2024 TIER IV.inc
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+RECORD_TOPIC = """^/tf$\
+|^/sensing/lidar/concatenated/pointcloud$\
+|^/perception/object_recognition/detection/objects$\
+|^/perception/object_recognition/tracking/objects$\
+|^/perception/object_recognition/objects$\
+|^/perception/object_recognition/tracking/multi_object_tracker/debug/.*\
+|^/perception/object_recognition/detection/.*/debug/pipeline_latency_ms$\
+|^/driving_log_replayer_v2/.*\
+|^/sensing/camera/.*\
+"""
+
+AUTOWARE_DISABLE = {
+    "localization": "false",
+    "planning": "false",
+    "control": "false",
+}
+
+AUTOWARE_ARGS = {}
+
+NODE_PARAMS = {}

driving_log_replayer_v2/driving_log_replayer_v2/launch/perception_2d.py

@@ -0,0 +1,34 @@
+# Copyright (c) 2024 TIER IV.inc
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+RECORD_TOPIC = """^/tf$\
+|^/sensing/lidar/concatenated/pointcloud$\
+|^/perception/object_recognition/detection/objects$\
+|^/perception/object_recognition/tracking/objects$\
+|^/perception/object_recognition/objects$\
+|^/sensing/camera/.*\
+|^/driving_log_replayer_v2/.*\
+"""
+
+AUTOWARE_DISABLE = {
+    "localization": "false",
+    "planning": "false",
+    "control": "false",
+}
+
+AUTOWARE_ARGS = {
+    "perception_mode": "camera_lidar_fusion",
+}
+
+NODE_PARAMS = {}

driving_log_replayer_v2/driving_log_replayer_v2/launch/performance_diag.py

@@ -0,0 +1,32 @@
+# Copyright (c) 2024 TIER IV.inc
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+RECORD_TOPIC = """^/tf$\
+|^/perception/obstacle_segmentation/pointcloud$\
+|^/diagnostics$\
+|^/sensing/lidar/.*/blockage_diag/debug/blockage_mask_image$\
+|^/sensing/lidar/.*/pointcloud_raw_ex$\
+|^/driving_log_replayer_v2/.*\
+"""
+
+AUTOWARE_DISABLE = {
+    "perception": "false",
+    "planning": "false",
+    "control": "false",
+}
+
+
+AUTOWARE_ARGS = {}
+
+NODE_PARAMS = {}

driving_log_replayer_v2/driving_log_replayer_v2/launch/planning_control.py

@@ -0,0 +1,26 @@
+# Copyright (c) 2024 TIER IV.inc
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+RECORD_TOPIC = """^/tf$\
+|^/control/control_evaluator/metrics$\
+|^/planning/planning_evaluator/metrics$\
+"""
+
+AUTOWARE_DISABLE = {
+    "localization": "false",
+}
+
+AUTOWARE_ARGS = {"use_aeb_autoware_state_check": "false"}
+
+NODE_PARAMS = {}

driving_log_replayer_v2/driving_log_replayer_v2/launch/traffic_light.py

@@ -0,0 +1,31 @@
+# Copyright (c) 2024 TIER IV.inc
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch.substitutions import LaunchConfiguration
+
+RECORD_TOPIC = """^/tf$\
+|^/sensing/camera/camera[67]/image_raw/compressed$\
+|^/perception/.*/traffic_signals$\
+|^/driving_log_replayer_v2/.*\
+"""
+
+AUTOWARE_DISABLE = {
+    "localization": "false",
+    "planning": "false",
+    "control": "false",
+}
+
+AUTOWARE_ARGS = {}
+
+NODE_PARAMS = {"map_path": LaunchConfiguration("map_path")}

driving_log_replayer_v2/driving_log_replayer_v2/launch/yabloc.py

@@ -0,0 +1,34 @@
+# Copyright (c) 2024 TIER IV.inc
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+RECORD_TOPIC = """^/tf$\
+|^/diagnostics$\
+|^/localization/pose_estimator/pose$\
+|^/localization/kinematic_state$\
+|^/localization/util/downsample/pointcloud$\
+|^/localization/pose_estimator/points_aligned$\
+"""
+
+AUTOWARE_DISABLE = {
+    "perception": "false",
+    "planning": "false",
+    "control": "false",
+}
+
+AUTOWARE_ARGS = {
+    "pose_source": "yabloc",
+    "twist_source": "gyro_odom",
+}
+
+NODE_PARAMS = {}