add use_sim-time option (autowarefoundation#99)

Author: tkimura4

autoware_launch/launch/autoware.launch.xml

@@ -59,7 +59,9 @@
   <include file="$(find-pkg-share awapi_awiv_adapter)/launch/awapi_awiv_adapter.launch.xml" />
 
   <!-- Rviz -->
-  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" />
+  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" >
+    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
+  </node>
 
   <!-- Web Controller -->
   <include file="$(find-pkg-share autoware_web_controller)/launch/autoware_web_controller.launch.xml" />

autoware_launch/launch/planning_simulator.launch.xml

@@ -56,7 +56,9 @@
   <include file="$(find-pkg-share awapi_awiv_adapter)/launch/awapi_awiv_adapter.launch.xml" />
 
   <!-- Rviz -->
-  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" />
+  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" >
+    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
+  </node>
 
   <!-- Web Controller -->
   <include file="$(find-pkg-share autoware_web_controller)/launch/autoware_web_controller.launch.xml" />

control_launch/launch/control.launch.xml

@@ -43,6 +43,7 @@
 
       <!-- latlon coupler -->
       <node pkg="latlon_muxer" exec="latlon_muxer" name="latlon_muxer" output="screen">
+        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="input/lateral/control_cmd" to="lateral/control_cmd"/>
         <remap from="input/longitudinal/control_cmd" to="longitudinal/control_cmd"/>
         <remap from="output/control_cmd" to="control_cmd"/>

localization_launch/launch/localization.launch.xml

@@ -33,6 +33,7 @@
     </include>
     <!-- final twist output of localization -->
     <node pkg="topic_tools" exec="relay" name="relay">
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <param name="input_topic" value="/localization/pose_twist_fusion_filter/twist" />
       <param name="output_topic" value="/localization/twist" />
       <param name="type" value="geometry_msgs/msg/TwistStamped" />

localization_launch/launch/util/util.launch.xml

@@ -16,6 +16,7 @@
   </include>
 
   <node pkg="pointcloud_preprocessor" exec="crop_box_filter_node" name="crop_box_filter_measurement_range" output="log">
+    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
     <remap from="input" to="$(var input_sensor_points_topic)" />
     <remap from="output" to="$(var output_measurement_range_sensor_points_topic)" />
     <param name="min_x" value="-60.0" />
@@ -32,6 +33,7 @@
 
   <!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->
   <node pkg="pointcloud_preprocessor" exec="voxel_grid_downsample_filter_node" name="voxel_grid_filter" output="log">
+    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
     <remap from="input" to="$(var output_measurement_range_sensor_points_topic)" />
     <remap from="output" to="$(var output_voxel_grid_downsample_sensor_points_topic)" />
     <param name="voxel_size_x" value="3.0" />
@@ -40,6 +42,7 @@
   </node>
 
   <node pkg="pointcloud_preprocessor" exec="random_downsample_filter_node" name="random_filter" output="log">
+    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
     <remap from="input" to="$(var output_voxel_grid_downsample_sensor_points_topic)" />
     <remap from="output" to="$(var output_downsample_sensor_points_topic)" />
     <param name="sample_num" value="1500" />

map_launch/launch/map.launch.xml

@@ -10,6 +10,7 @@
     </include>
 
     <node pkg="map_loader" exec="pointcloud_map_loader" name="pointcloud_map_loader" args="$(var pointcloud_map_path)">
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <remap from="output/pointcloud_map" to="/map/pointcloud_map" />
     </node>
 

perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

@@ -8,6 +8,7 @@
 
   <!-- compressed to raw image-->
   <node pkg="image_transport" exec="republish" name="traffic_light_image_decompressor" args="compressed raw">
+    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
     <remap from="in/compressed" to="$(var input/image)/compressed"/>
     <remap from="out" to="$(var input/image)"/>
   </node>

planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -4,6 +4,7 @@
   <arg name="vehicle_param_file" />
 
   <node pkg="lane_change_planner" exec="lane_change_planner" name="lane_change_planner" output="screen">
+    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
     <remap from="~/input/route" to="$(var input_route_topic_name)" />
     <remap from="~/input/vector_map" to="$(var map_topic_name)" />
     <remap from="~/input/perception" to="/perception/object_recognition/objects" />
@@ -47,6 +48,7 @@
                    autoware_planning_msgs/msg/LaneChangeCommand 'command: true' -r 10"/>
 
   <node pkg="turn_signal_decider" exec="turn_signal_decider" name="turn_signal_decider" output="screen">
+    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
     <remap from="input/path_with_lane_id" to="path_with_lane_id" />
     <remap from="input/vector_map" to="$(var map_topic_name)" />
     <remap from="output/turn_signal_cmd" to="/planning/turn_signal_decider/turn_signal_cmd" />

planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

@@ -27,6 +27,7 @@
   <!-- skip surround obstacle checker -->
   <group unless="$(var use_surround_obstacle_check)">
     <node pkg="topic_tools" exec="relay" name="skip_surround_obstacle_check_relay" output="log" >
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <param name="input_topic" value="obstacle_avoidance_planner/trajectory" />
       <param name="output_topic" value="surround_obstacle_checker/trajectory" />
       <param name="type" value="autoware_planning_msgs/msg/Trajectory" />

sensing_launch/launch/aip_customized/camera.launch.xml

@@ -7,6 +7,7 @@
     <group>
       <push-ros-namespace namespace="traffic_light"/>
       <node pkg="usb_cam" name="traffic_light_camera" exec="usb_cam_node" if="$(var launch_driver)">
+        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="/image_raw" to="image_raw" />
         <remap from="/camera_info" to="camera_info" />
         <param name="camera_frame_id" value="traffic_light/camera_optical_link" />

sensing_launch/launch/aip_customized/gnss.launch.xml

@@ -7,6 +7,7 @@
 
     <!-- Ublox Driver -->
     <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)">
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <remap from="ublox/fix" to="ublox/nav_sat_fix" />
       <param from="$(find-pkg-share ublox_gps)/c94_f9p_rover.yaml"/>
     </node>

sensing_launch/launch/aip_customized/imu.launch.xml

@@ -8,6 +8,7 @@
     <group>
       <push-ros-namespace namespace="tamagawa"/>
       <node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)">
+        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="imu/data_raw" to="imu_raw" />
         <param name="port" value="/dev/imu" />
         <param name="imu_frame_id" value="tamagawa/imu_link" />
@@ -17,6 +18,7 @@
 
     <!-- Relay -->
     <node pkg="topic_tools" exec="relay" name="twist_relay" output="log" >
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <param name="input_topic" value="/sensing/imu/tamagawa/imu_raw" />
       <param name="output_topic" value="/sensing/imu/imu_data" />
       <param name="type" value="sensor_msgs/msg/Imu" />

sensing_launch/launch/aip_s1/camera.launch.xml

@@ -7,6 +7,7 @@
     <group>
       <push-ros-namespace namespace="traffic_light"/>
       <node pkg="usb_cam" name="traffic_light_camera" exec="usb_cam_node" if="$(var launch_driver)">
+        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="/image_raw" to="image_raw" />
         <remap from="/camera_info" to="camera_info" />
         <param name="camera_frame_id" value="traffic_light/camera_optical_link" />

sensing_launch/launch/aip_s1/gnss.launch.xml

@@ -7,6 +7,7 @@
 
     <!-- Ublox Driver -->
     <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)">
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <remap from="ublox/fix" to="ublox/nav_sat_fix" />
       <param from="$(find-pkg-share ublox_gps)/c94_f9p_rover.yaml"/>
     </node>

sensing_launch/launch/aip_s1/imu.launch.xml

@@ -8,6 +8,7 @@
     <group>
       <push-ros-namespace namespace="tamagawa"/>
       <node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)">
+        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="imu/data_raw" to="imu_raw" />
         <param name="port" value="/dev/imu" />
         <param name="imu_frame_id" value="tamagawa/imu_link" />
@@ -17,6 +18,7 @@
 
     <!-- Relay -->
     <node pkg="topic_tools" exec="relay" name="twist_relay" output="log" >
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <param name="input_topic" value="/sensing/imu/tamagawa/imu_raw" />
       <param name="output_topic" value="/sensing/imu/imu_data" />
       <param name="type" value="sensor_msgs/msg/Imu" />

sensing_launch/launch/aip_x1/camera.launch.xml

@@ -7,6 +7,7 @@
     <group>
       <push-ros-namespace namespace="driving_recorder"/>
       <node pkg="usb_cam" name="driving_recorder_camera" exec="usb_cam_node" if="$(var launch_driver)">
+        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="/image_raw" to="image_raw" />
         <remap from="/camera_info" to="camera_info" />
         <param name="camera_frame_id" value="driving_recorder/camera_optical_link" />

sensing_launch/launch/aip_x1/gnss.launch.xml

@@ -8,6 +8,7 @@
 
     <!-- Ublox Driver -->
     <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)">
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <remap from="ublox/fix" to="ublox/nav_sat_fix" />
       <param from="$(find-pkg-share ublox_gps)/c94_f9p_rover.yaml"/>
     </node>

sensing_launch/launch/aip_x1/imu.launch.xml

@@ -7,6 +7,7 @@
 
     <!-- Relay -->
     <node pkg="topic_tools" exec="relay" name="twist_relay" output="log" >
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <param name="input_topic" value="/sensing/lidar/front_center/livox/imu" />
       <param name="output_topic" value="/sensing/imu/imu_data" />
       <param name="type" value="sensor_msgs/msg/Imu" />

sensing_launch/launch/aip_x2/camera.launch.xml

@@ -7,6 +7,7 @@
     <group>
       <push-ros-namespace namespace="traffic_light"/>
       <node pkg="usb_cam" name="traffic_light_camera" exec="usb_cam_node" if="$(var launch_driver)">
+        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="/image_raw" to="image_raw" />
         <remap from="/camera_info" to="camera_info" />
         <param name="camera_frame_id" value="traffic_light/camera_optical_link" />

sensing_launch/launch/aip_x2/gnss.launch.xml

@@ -7,6 +7,7 @@
 
     <!-- Ublox Driver -->
     <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)">
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <remap from="ublox/fix" to="ublox/nav_sat_fix" />
       <param from="$(find-pkg-share ublox_gps)/c94_f9p_rover.yaml"/>
     </node>

sensing_launch/launch/aip_x2/imu.launch.xml

@@ -8,6 +8,7 @@
     <group>
       <push-ros-namespace namespace="tamagawa"/>
       <node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)">
+        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="imu/data_raw" to="imu_raw" />
         <param name="port" value="/dev/imu" />
         <param name="imu_frame_id" value="tamagawa/imu_link" />
@@ -17,6 +18,7 @@
 
     <!-- Relay -->
     <node pkg="topic_tools" exec="relay" name="twist_relay" output="log" >
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <param name="input_topic" value="/sensing/imu/tamagawa/imu_raw" />
       <param name="output_topic" value="/sensing/imu/imu_data" />
       <param name="type" value="sensor_msgs/msg/Imu" />

sensing_launch/launch/aip_xx1/camera.launch.xml

@@ -10,12 +10,14 @@
 
       <!-- (usb_cam_node is assumed to have launched on logging PC) -->
       <node pkg="topic_tools" exec="relay" name="tl_camera_info_relay" output="log" >
+        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <param name="input_topic" value="$(var camera_type)/camera_info" />
         <param name="output_topic" value="camera_info" />
         <param name="type" value="sensor_msgs/msg/CameraInfo" />
       </node>
 
       <node pkg="topic_tools" exec="relay" name="tl_compressed_image_relay" output="log" >
+        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <param name="input_topic" value="$(var camera_type)/image_raw/compressed" />
         <param name="output_topic" value="image_raw/compressed" />
         <param name="type" value="sensor_msgs/msg/Image" />

sensing_launch/launch/aip_xx1/gnss.launch.xml

@@ -7,6 +7,7 @@
 
     <!-- Ublox Driver -->
     <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)">
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <remap from="ublox/fix" to="ublox/nav_sat_fix" />
       <param from="$(find-pkg-share ublox_gps)/c94_f9p_rover.yaml"/>
     </node>

sensing_launch/launch/aip_xx1/imu.launch.xml

@@ -8,6 +8,7 @@
     <group>
       <push-ros-namespace namespace="tamagawa"/>
       <node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)">
+        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="imu/data_raw" to="imu_raw" />
         <param name="port" value="/dev/imu" />
         <param name="imu_frame_id" value="tamagawa/imu_link" />
@@ -17,6 +18,7 @@
 
     <!-- Relay -->
     <node pkg="topic_tools" exec="relay" name="twist_relay" output="log" >
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <param name="input_topic" value="/sensing/imu/tamagawa/imu_raw" />
       <param name="output_topic" value="/sensing/imu/imu_data" />
       <param name="type" value="sensor_msgs/msg/Imu" />

sensing_launch/launch/aip_xx2/camera.launch.xml

@@ -7,6 +7,7 @@
     <group>
       <push-ros-namespace namespace="traffic_light"/>
       <node pkg="usb_cam" name="traffic_light_camera" exec="usb_cam_node" if="$(var launch_driver)">
+        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="/image_raw" to="image_raw" />
         <remap from="/camera_info" to="camera_info" />
         <param name="camera_frame_id" value="traffic_light/camera_optical_link" />

sensing_launch/launch/aip_xx2/gnss.launch.xml

@@ -7,6 +7,7 @@
 
     <!-- Ublox Driver -->
     <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)">
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <remap from="ublox/fix" to="ublox/nav_sat_fix" />
       <param from="$(find-pkg-share ublox_gps)/c94_f9p_rover.yaml"/>
     </node>

sensing_launch/launch/aip_xx2/imu.launch.xml

@@ -8,6 +8,7 @@
     <group>
       <push-ros-namespace namespace="tamagawa"/>
       <node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)">
+        <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
         <remap from="imu/data_raw" to="imu_raw" />
         <param name="port" value="/dev/imu" />
         <param name="imu_frame_id" value="tamagawa/imu_link" />
@@ -17,6 +18,7 @@
 
     <!-- Relay -->
     <node pkg="topic_tools" exec="relay" name="twist_relay" output="log" >
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
       <param name="input_topic" value="/sensing/imu/tamagawa/imu_raw" />
       <param name="output_topic" value="/sensing/imu/imu_data" />
       <param name="type" value="sensor_msgs/msg/Imu" />

system_launch/launch/system.launch.xml

@@ -50,6 +50,8 @@
     </include>
 
     <!-- Autoware Version Publisher-->
-    <node pkg="autoware_version" exec="autoware_version" name="autoware_version" output="screen"/>
+    <node pkg="autoware_version" exec="autoware_version" name="autoware_version" output="screen">
+      <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
+    </node>
   </group>
 </launch>

vehicle_launch/launch/vehicle_description.launch.xml

@@ -10,6 +10,7 @@
   <arg name="model" default="$(find-pkg-share vehicle_launch)/urdf/vehicle.xacro"/>
   <arg name="config_dir" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
   <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
+    <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
     <param name="robot_description" value="$(command 'xacro $(var model) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model) config_dir:=$(var config_dir)')"/>
   </node>