feat: add autoware_global_parameter_loader (autowarefoundation#127)

* Move autoware_global_parameter_loader to the appropriate place (autowarefoundation#1701)

* Move autoware_global_parameter_loader to the appropriate place

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix package name

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename vehicle_info param arg to avoid conflicts (autowarefoundation#2074)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Change formatter to clang-format and black (autowarefoundation#2332)

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove ament_cmake_uncrustify and ament_clang_format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply Black

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix for cpplint

* Fix include double quotes to angle brackets

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add COLCON_IGNORE (autowarefoundation#500)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* remove COLCON_IGNORE (autowarefoundation#510)

Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp>

* Auto/add readme common pkg (autowarefoundation#567)

* add description to global paraemeter loader

* add readme to rosbag recorde

* fix typo

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* Fix Format

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* Clarify the description

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* Fix Typo

Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

* proper description

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>

common/autoware_global_parameter_loader/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.5)
+project(autoware_global_parameter_loader)
+
+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
+)

common/autoware_global_parameter_loader/Readme.md

@@ -0,0 +1,18 @@
+# Autoware Global Parameter Loader
+
+This package is to set common ROS parameters to each node.
+
+## Usage
+
+Add the following lines to the launch file of the node in which you want to get global parameters.
+
+```xml
+<!-- Global parameters -->
+  <include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py">
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+  </include>
+```
+
+## Assumptions / Known limits
+
+Currently only vehicle_info is loaded by this launcher.

common/autoware_global_parameter_loader/launch/global_params.launch.py

@@ -0,0 +1,55 @@
+# Copyright 2021 Tier IV, Inc. All rights reserved.
+#
+# 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 import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch.actions import OpaqueFunction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import SetParameter
+from launch_ros.substitutions import FindPackageShare
+
+
+def launch_setup(context, *args, **kwargs):
+    # use_sim_time
+    set_use_sim_time = SetParameter(name="use_sim_time", value=LaunchConfiguration("use_sim_time"))
+
+    # vehicle_info
+    vehicle_description_pkg = FindPackageShare(
+        [LaunchConfiguration("vehicle_model"), "_description"]
+    ).perform(context)
+
+    load_vehicle_info = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [FindPackageShare("vehicle_info_util"), "/launch/vehicle_info.launch.py"]
+        ),
+        launch_arguments={
+            "vehicle_info_param_file": [vehicle_description_pkg, "/config/vehicle_info.param.yaml"]
+        }.items(),
+    )
+
+    return [
+        set_use_sim_time,
+        load_vehicle_info,
+    ]
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument("use_sim_time", default_value="false"),
+            OpaqueFunction(function=launch_setup),
+        ]
+    )

common/autoware_global_parameter_loader/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>autoware_global_parameter_loader</name>
+  <version>0.1.0</version>
+  <description>The autoware_global_parameter_loader package</description>
+  <maintainer email="kenji.miyake@tier4.jp">Kenji Miyake</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>vehicle_info_util</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>