feat: add vehicle_launch package (#168)

* release v0.4.0 * Modify to change calib param for each vehicle (#51) * add vehicle id to change parameter of each vehicle Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * add vehicle id to change param for each vehicle Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * add some dependencies (#54) * Add some scenario-simulation specifiec parameters as arguments (#57) * Add some scenario-simulation specifiec parameters as arguments * Update arg to pass 'initial_engage_state' to simple_planning_simulator * Add new optional argument 'rviz_args' * Rename some roslaunch arguments * Remove unneeded arguments * removed ROS1 package Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "removed ROS1 package" This reverts commit 561686456a78d767c1de9e976ef451b340d65343. * add COLCON_IGNORE file to all ROS1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * rename *.launch files to *.launch.xml Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * port vehicle_launch Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Add linters (#30) * Ros2 v0.8.0 vehicle launch (#55) * restore file name Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Add default config of aip_x1 (#141) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Pass all args to vehicle_interface.launch (#147) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Revert "restore file name" This reverts commit 3e28661e8ba1a44cc570ca19b7b4759ba0bf0941. * fix vehicle_interface.launch arg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [vehicle_launch]: Remove pass_all_args Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * Ros2 v0.8.0 fix packages (#64) * add vehicle_param_file to simple planning simulator * add vehicle_param_file to lane change planner * Move individual params to a separate package (#100) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add use_sim-time option (#99) * Sync public repo (#185) * add tier4 usbcam (#104) * add tier4 usbcam * change version * tier4/ros2 * Ros2 vehicle info param server (#96) * add vehicle info param server * delete vehicle param file Co-authored-by: taikitanaka <ttatcoder@outlook.jp> * Ros2 fix topic name part2 (#89) * Fix topic name for traffic_light_classifier Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name for traffic_light_visualization Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name for traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: taikitanaka <ttatcoder@outlook.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * add group (#195) * Use set_parameter for use_sim_time (#198) * Use set_parameter for use_sim_time Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add default parameter for scenario simulator Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add param for psim v2 (#197) * add param for psim v2 Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * Update to pass var 'scenario_simulation' to dummy_perception_publisher * Update dummy_perception_publisher's arg-name Co-authored-by: yamacir-kit <httperror@404-notfound.jp> * Add vehicle info launch for setting vehicle info param (#199) * Add vehicle info launch for setting vehicle info param Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add comment for global parameters section Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix year and apply format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove ready vehicle info param Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix CI build depends (#261) * Fix CI build depends Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove xacro find package Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Move global_params.launch.py and vehicle_info.launch.py to autoware_global_parameter_loader (#282) * Move global_params.launch.py and vehicle_info.launch.py to autoware_global_parameter_loader Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add exec_depend Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add description for vehicle_launch (#337) * add description * delete duplicate * delete slash * fix sentence * add README.md and svg files (#328) * add md and svg * fix typo * fix typo * fix word * fix typo * add lack of things * Update README * fix depending packages * fix word * Fix pre-commit (#407) * Fix pre-commit errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix package.xml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Move simple_planning_simulator to simulator_launch (#462) * move simple_planning_simulator * add simulation arg to logging_simulator.launch * delete unused argument * add arguments for logging simulation * change default value * update README * add default value to simulator arg * restore vehicle_simulation arg * Fix/revert initial engage state (#484) * Fix args Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add initial_engage_state to vehicle.launch.xml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Update vehicle.launch.xml * Change formatter to black (#488) * Update pre-commit settings * Apply Black * Replace ament_lint_common with autoware_lint_common * Update build_depends.repos * Fix build_depends * add build depend Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * ci(pre-commit): autofix * remove depends * update readme Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com> Co-authored-by: Yamasaki Tatsuya <httperror@404-notfound.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Jilada Eccleston <jilada.eccleston@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: taikitanaka <ttatcoder@outlook.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
autowarefoundation · Dec 14, 2021 · 7b23bdf · 7b23bdf
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diff --git a/launch/vehicle_launch/CMakeLists.txt b/launch/vehicle_launch/CMakeLists.txt
@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.5)
+project(vehicle_launch)
+
+add_compile_options(-std=c++14)
+
+find_package(ament_cmake_auto REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+    launch
+    urdf
+)
diff --git a/launch/vehicle_launch/README.md b/launch/vehicle_launch/README.md
@@ -0,0 +1,63 @@
+# vehicle_launch
+
+## Structure
+
+![vehicle_launch](./vehicle_launch.drawio.svg)
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+You can include as follows in `*.launch.xml` to use `vehicle.launch.xml`.
+
+```xml
+  <arg name="vehicle_model" default="lexus" description="vehicle model name"/>
+  <arg name="sensor_model" default="aip_xx1" description="sensor model name"/>
+
+  <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+  </include>
+```
+
+## Notes
+
+This package finds some external packages and settings with variables and package names.
+
+ex.)
+
+```xml
+<let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>
+```
+
+<https://github.com/tier4/autoware_launcher/blob/d880474/vehicle_launch/launch/vehicle_description.launch.xml#L11>
+
+```xml
+<arg name="config_dir" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
+```
+
+## vehicle.xacro
+
+### Arguments
+
+| Name          | Type   | Description        | Default |
+| ------------- | ------ | ------------------ | ------- |
+| sensor_model  | String | sensor model name  | ""      |
+| vehicle_model | String | vehicle model name | ""      |
+
+### Usage
+
+You can write as follows in `*.launch.xml`.
+
+```xml
+  <arg name="vehicle_model" default="lexus" description="vehicle model name"/>
+  <arg name="sensor_model" default="aip_xx1" description="sensor model name"/>
+  <arg name="model" default="$(find-pkg-share vehicle_launch)/urdf/vehicle.xacro"/>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
+    <param name="robot_description" value="$(command 'xacro $(var model) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model)')"/>
+  </node>
+
+```
diff --git a/launch/vehicle_launch/launch/vehicle.launch.xml b/launch/vehicle_launch/launch/vehicle.launch.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
+  <arg name="simulation" default="false" description="use simulation"/>
+  <arg name="initial_engage_state" default="false" description="/vehicle/engage state after starting Autoware"/>
+
+  <let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>
+
+
+  <!-- vehicle description -->
+  <group>
+    <include file="$(find-pkg-share vehicle_launch)/launch/vehicle_description.launch.xml">
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="vehicle_id" value="$(var vehicle_id)"/>
+    </include>
+  </group>
+
+  <!-- vehicle interface -->
+  <group unless="$(var simulation)">
+    <include file="$(var vehicle_model_pkg)/launch/vehicle_interface.launch.xml">
+      <arg name="vehicle_id" value="$(var vehicle_id)"/>
+      <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+    </include>
+  </group>
+</launch>
diff --git a/launch/vehicle_launch/launch/vehicle_description.launch.xml b/launch/vehicle_launch/launch/vehicle_description.launch.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_id" description="vehicle specific ID"/>
+
+
+  <!-- tf publisher -->
+  <arg name="model" default="$(find-pkg-share vehicle_launch)/urdf/vehicle.xacro" description="path to the file of model settings (*.xacro)"/>
+  <arg name="config_dir" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)" description="path to the directory of calibration parameters"/>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
+    <param name="robot_description" value="$(command 'xacro $(var model) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model) config_dir:=$(var config_dir)')"/>
+  </node>
+
+</launch>
diff --git a/launch/vehicle_launch/package.xml b/launch/vehicle_launch/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>vehicle_launch</name>
+  <version>0.1.0</version>
+  <description>The vehicle_launch package</description>
+
+  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <license>Apache License 2.0</license>
+
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/launch/vehicle_launch/urdf/vehicle.xacro b/launch/vehicle_launch/urdf/vehicle.xacro
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="vehicle"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:arg name="vehicle_model" default=""/>
+  <xacro:arg name="sensor_model" default=""/>
+
+  <!-- vehicle -->
+  <xacro:property name="vehicle_model_property" value="$(arg vehicle_model)"/>
+  <xacro:include filename="$(find ${vehicle_model_property}_description)/urdf/vehicle.xacro"/>
+
+  <!-- sensors -->
+  <xacro:property name="sensor_model_property" value="$(arg sensor_model)"/>
+  <xacro:include filename="$(find ${sensor_model_property}_description)/urdf/sensors.xacro"/>
+
+</robot>
diff --git a/launch/vehicle_launch/vehicle_launch.drawio.svg b/launch/vehicle_launch/vehicle_launch.drawio.svg