feat(tier4_autoware_api_launch): add some arguments (autowarefoundation#1324)

* feat(tier4_autoware_api_launch): add some arguments

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix launch py

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* deal with review

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* deal with review

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* deal with review

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Author: takayuki5168

launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml

@@ -1,5 +1,10 @@
 <launch>
   <arg name="respawn_rosbridge" default="true"/>
+  <arg name="launch_image_base64_converter" default="false"/>
+  <arg name="launch_path_distance_calculator" default="false"/>
+  <!-- external api adaptor -->
+  <arg name="launch_calibration_status_api" default="false"/>
+  <arg name="launch_start_api" default="true"/>
 
   <!-- awapi (deprecated) -->
   <group>
@@ -9,11 +14,21 @@
   <!-- autoware api adaptor -->
   <group>
     <push-ros-namespace namespace="autoware_api"/>
-    <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/include/external_api_adaptor.launch.py"/>
+    <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/include/external_api_adaptor.launch.py">
+      <arg name="launch_calibration_status_api" value="$(var launch_calibration_status_api)"/>
+      <arg name="launch_start_api" value="$(var launch_start_api)"/>
+    </include>
     <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/include/internal_api_adaptor.launch.py"/>
     <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/include/internal_api_relay.launch.xml"/>
   </group>
 
+  <!-- autoware api utils -->
+  <group>
+    <push-ros-namespace namespace="autoware_api/utils"/>
+    <include file="$(find-pkg-share path_distance_calculator)/launch/path_distance_calculator.launch.xml" if="$(var launch_path_distance_calculator)"/>
+    <include file="$(find-pkg-share image_base64_converter)/launch/image_base64_converter.launch.xml" if="$(var launch_image_base64_converter)"/>
+  </group>
+
   <!-- rosbridge -->
   <!-- TODO: respawn will work once https://github.com/ros2/launch/pull/569 is released. I'll delete this comment when it's done. -->
   <group>

launch/tier4_autoware_api_launch/launch/include/external_api_adaptor.launch.py

@@ -13,7 +13,11 @@
 # limitations under the License.
 
 import launch
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 
 
@@ -28,7 +32,17 @@ def _create_api_node(node_name, class_name, **kwargs):
 
 
 def generate_launch_description():
-    components = [
+    launch_arguments = []
+
+    def add_launch_arg(name: str, default_value=None, description=None):
+        launch_arguments.append(
+            DeclareLaunchArgument(name, default_value=default_value, description=description)
+        )
+
+    add_launch_arg("launch_calibration_status_api", None, "launch calibration status api")
+    add_launch_arg("launch_start_api", None, "launch start api")
+
+    default_components = [
         _create_api_node("cpu_usage", "CpuUsage"),
         _create_api_node("diagnostics", "Diagnostics"),
         _create_api_node("door", "Door"),
@@ -41,7 +55,6 @@ def generate_launch_description():
         _create_api_node("metadata_packages", "MetadataPackages"),
         _create_api_node("route", "Route"),
         _create_api_node("service", "Service"),
-        _create_api_node("start", "Start"),
         _create_api_node("vehicle_status", "VehicleStatus"),
         _create_api_node("velocity", "Velocity"),
         _create_api_node("version", "Version"),
@@ -51,7 +64,22 @@ def generate_launch_description():
         name="autoware_iv_adaptor",
         package="rclcpp_components",
         executable="component_container_mt",
-        composable_node_descriptions=components,
+        composable_node_descriptions=default_components,
         output="screen",
     )
-    return launch.LaunchDescription([container])
+
+    calibration_status_loader = LoadComposableNodes(
+        composable_node_descriptions=[_create_api_node("calibration_status", "CalibrationStatus")],
+        target_container=container,
+        condition=IfCondition(LaunchConfiguration("launch_calibration_status_api")),
+    )
+
+    start_loader = LoadComposableNodes(
+        composable_node_descriptions=[_create_api_node("start", "Start")],
+        target_container=container,
+        condition=IfCondition(LaunchConfiguration("launch_start_api")),
+    )
+
+    return launch.LaunchDescription(
+        launch_arguments + [container, calibration_status_loader, start_loader]
+    )