feat(tier4_autoware_api_launch): add tier4_autoware_api_launch package (

tier4#658)

* feat(tier4_autoware_api_launch): add tier4_autoware_api_launch package

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* ci(pre-commit): autofix

* fix(tier4_autoware_api_launch): fix the command in the README instructions

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

launch/tier4_autoware_api_launch/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.5)
+project(tier4_autoware_api_launch)
+
+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)

launch/tier4_autoware_api_launch/README.md

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+# tier4_autoware_api_launch
+
+## Description
+
+This package contains launch files that run nodes to convert Autoware internal topics into consistent API used by external software (e.g., fleet management system, simulator).
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+You can include as follows in `*.launch.xml` to use `control.launch.py`.
+
+```xml
+  <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml">
+    <arg name="init_simulator_pose" value="true"/>
+    <arg name="init_localization_pose" value="false"/>
+  </include>
+```
+
+## Notes
+
+For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS2 (similar to Nodelet in ROS1 )

launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml

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+<launch>
+  <!-- awapi (deprecated) -->
+  <group>
+    <include file="$(find-pkg-share awapi_awiv_adapter)/launch/awapi_awiv_adapter.launch.xml"/>
+  </group>
+
+  <!-- autoware api adaptor -->
+  <group>
+    <push-ros-namespace namespace="autoware_api"/>
+    <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/include/external_api_adaptor.launch.py"/>
+    <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/include/internal_api_adaptor.launch.py"/>
+    <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/include/internal_api_relay.launch.xml"/>
+  </group>
+</launch>

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

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+# Copyright 2021 Tier IV, Inc.
+#
+# 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.
+
+import launch
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+def _create_api_node(node_name, class_name, **kwargs):
+    return ComposableNode(
+        namespace="external",
+        name=node_name,
+        package="autoware_iv_external_api_adaptor",
+        plugin="external_api::" + class_name,
+        **kwargs
+    )
+
+
+def generate_launch_description():
+    components = [
+        _create_api_node("cpu_usage", "CpuUsage"),
+        _create_api_node("diagnostics", "Diagnostics"),
+        _create_api_node("door", "Door"),
+        _create_api_node("emergency", "Emergency"),
+        _create_api_node("engage", "Engage"),
+        _create_api_node("fail_safe_state", "FailSafeState"),
+        _create_api_node("initial_pose", "InitialPose"),
+        _create_api_node("map", "Map"),
+        _create_api_node("operator", "Operator"),
+        _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"),
+    ]
+    container = ComposableNodeContainer(
+        namespace="external",
+        name="autoware_iv_adaptor",
+        package="rclcpp_components",
+        executable="component_container_mt",
+        composable_node_descriptions=components,
+        output="screen",
+    )
+    return launch.LaunchDescription([container])

launch/tier4_autoware_api_launch/launch/include/internal_api_adaptor.launch.py

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+# Copyright 2021 Tier IV, Inc.
+#
+# 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.
+
+import launch
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+def _create_api_node(node_name, class_name, **kwargs):
+    return ComposableNode(
+        namespace="internal",
+        name=node_name,
+        package="autoware_iv_internal_api_adaptor",
+        plugin="internal_api::" + class_name,
+        **kwargs
+    )
+
+
+def generate_launch_description():
+    param_initial_pose = {
+        "init_simulator_pose": LaunchConfiguration("init_simulator_pose"),
+        "init_localization_pose": LaunchConfiguration("init_localization_pose"),
+    }
+    components = [
+        _create_api_node("initial_pose", "InitialPose", parameters=[param_initial_pose]),
+        _create_api_node("iv_msgs", "IVMsgs"),
+        _create_api_node("operator", "Operator"),
+        _create_api_node("route", "Route"),
+        _create_api_node("velocity", "Velocity"),
+    ]
+    container = ComposableNodeContainer(
+        namespace="internal",
+        name="autoware_iv_adaptor",
+        package="rclcpp_components",
+        executable="component_container_mt",
+        composable_node_descriptions=components,
+        output="screen",
+    )
+    return launch.LaunchDescription([container])

launch/tier4_autoware_api_launch/launch/include/internal_api_relay.launch.xml

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+<launch>
+  <group>
+    <push-ros-namespace namespace="internal"/>
+    <node pkg="topic_tools" exec="relay" name="traffic_signals">
+      <param name="input_topic" value="/api/autoware/set/traffic_signals"/>
+      <param name="output_topic" value="/external/traffic_light_recognition/traffic_signals"/>
+      <param name="type" value="autoware_auto_perception_msgs/msg/TrafficSignalArray"/>
+    </node>
+    <node pkg="topic_tools" exec="relay" name="intersection_states">
+      <param name="input_topic" value="/api/autoware/set/intersection_states"/>
+      <param name="output_topic" value="/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_intersection_states"/>
+      <param name="type" value="tier4_api_msgs/msg/IntersectionStatus"/>
+    </node>
+    <node pkg="topic_tools" exec="relay" name="crosswalk_states">
+      <param name="input_topic" value="/api/autoware/set/crosswalk_states"/>
+      <param name="output_topic" value="/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_crosswalk_states"/>
+      <param name="type" value="tier4_api_msgs/msg/CrosswalkStatus"/>
+    </node>
+    <!-- TODO(Takagi, Isamu): workaround for topic check -->
+    <node pkg="topic_tools" exec="relay" name="initial_pose_2d">
+      <param name="input_topic" value="/initialpose"/>
+      <param name="output_topic" value="/initialpose2d"/>
+      <param name="type" value="geometry_msgs/msg/PoseWithCovarianceStamped"/>
+    </node>
+  </group>
+</launch>

launch/tier4_autoware_api_launch/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>tier4_autoware_api_launch</name>
+  <version>0.0.0</version>
+  <description>The tier4_autoware_api_launch package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke, Mitsudome</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>autoware_iv_external_api_adaptor</exec_depend>
+  <exec_depend>autoware_iv_internal_api_adaptor</exec_depend>
+  <exec_depend>awapi_awiv_adapter</exec_depend>
+  <exec_depend>path_distance_calculator</exec_depend>
+  <exec_depend>topic_tools</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>