feat(autoware_launch): move config from autoware.universe for simulat…

…or (autowarefoundation#132) * feat(autoware_launch): move config to autoware_launch for perception Signed-off-by: kminoda <koji.minoda@tier4.jp> * first commit Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix(autoware_launch): fix config path of system_error_monitor Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix typo again Signed-off-by: kminoda <koji.minoda@tier4.jp> * resolve conflict Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp>
keiota · Dec 21, 2022 · 20f95e5 · 20f95e5
1 parent 68557bc
commit 20f95e5
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Showing 2 changed files with 35 additions and 1 deletion.
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="launch_dummy_perception"/>
+  <arg name="launch_dummy_vehicle"/>
+  <arg name="launch_dummy_localization"/>
+  <arg name="perception/enable_detection_failure"/>
+  <arg name="perception/enable_object_recognition"/>
+  <arg name="sensing/visible_range"/>
+  <arg name="vehicle_model"/>
+  <arg name="initial_engage_state"/>
+  <arg name="vehicle_info_param_file"/>
+
+  <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
+    <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
+    <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
+    <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
+    <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
+    <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
+    <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+    <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
+
+    <arg name="fault_injection_param_path" value="$(find-pkg-share autoware_launch)/config/simulator/fault_injection.param.yaml"/>
+    <arg
+      name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
+    />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
+    />
+  </include>
+</launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -67,7 +67,7 @@
     <let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
     <let name="launch_dummy_localization" value="true"/>
 
-    <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_simulator_component.launch.xml">
       <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
       <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
       <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>