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

…towarefoundation#128)

feat(autoware_launch): move config to autoware_launch for map

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Signed-off-by: kminoda <koji.minoda@tier4.jp>

autoware_launch/config/map/pointcloud_map_loader.param.yaml

@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    enable_whole_load: true
+    enable_downsampled_whole_load: false
+    enable_partial_load: false
+    enable_differential_load: false
+
+    # only used when downsample_whole_load enabled
+    leaf_size: 3.0 # downsample leaf size [m]

autoware_launch/launch/autoware.launch.xml

@@ -76,7 +76,7 @@
 
   <!-- Map -->
   <group if="$(var launch_map)">
-    <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml">
       <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
     </include>

autoware_launch/launch/components/tier4_map_component.launch.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="lanelet2_map_path"/>
+  <arg name="pointcloud_map_path"/>
+
+  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
+    <arg name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
+    <arg name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
+
+    <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
+  </include>
+</launch>