Merge branch 'awf-latest' into feat/replace_localization_launch

README.md

@@ -19,6 +19,5 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map
 - [autoware_launch](./autoware_launch)
 - [control_launch](./control_launch)
 - [integration_launch](./integration_launch)
-- [perception_launch](./perception_launch)
 - [planning_launch](./planning_launch)
 - [system_launch](./system_launch)

autoware_api_launch/launch/autoware_api.launch.xml

@@ -1,38 +1,9 @@
 <launch>
-
-  <arg name="respawn" default="true" />
-  <arg name="launch_default_ad_api" default="true"/>
-  <arg name="max_message_size" default="1000000000" />
-
-  <!-- AD API -->
-  <group if="$(var launch_default_ad_api)">
-    <include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py"/>
-  </group>
-
-  <!-- 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 autoware_api_launch)/launch/include/external_api_adaptor.launch.py"/>
-    <include file="$(find-pkg-share autoware_api_launch)/launch/include/internal_api_adaptor.launch.py"/>
-    <include file="$(find-pkg-share autoware_api_launch)/launch/include/internal_api_relay.launch.xml"/>
-  </group>
-
-  <!-- autoware api utils -->
+  <!-- forwarding options -->
+  <arg name="launch_deprecated_api" default="true"/>
+  <arg name="rosbridge_enabled" default="true"/>
+  <arg name="rosbridge_max_message_size" default="1000000000"/>
   <group>
-    <push-ros-namespace namespace="autoware_api/utils"/>
-    <include file="$(find-pkg-share path_distance_calculator)/launch/path_distance_calculator.launch.xml"/>
+    <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>
   </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. -->
-  <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
-      <arg name="respawn" value="$(var respawn)"/>
-      <arg name="max_message_size" value="$(var max_message_size)"/>
-  </include>
-
 </launch>

autoware_launch/launch/autoware.launch.xml

@@ -100,8 +100,9 @@
 
   <!-- Perception -->
   <group if="$(var launch_perception)">
-    <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
-      <arg name="mode" value="$(var perception_mode)" />
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
+      <arg name="mode" value="$(var perception_mode)"/>
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
@@ -134,17 +135,8 @@
     <include file="$(find-pkg-share autoware_api_launch)/launch/autoware_api.launch.xml"/>
   </group>
 
-  <!-- Tools -->
-  <group>
-    <!-- Rviz -->
-    <node
-      pkg="rviz2"
-      exec="rviz2"
-      name="rviz2"
-      output="screen"
-      args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
-      if="$(var rviz)"
-    />
-    <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var rviz)"/>
+  <!-- Rviz -->
+  <group if="$(var rviz)">
+    <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"/>
   </group>
 </launch>

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="mode"/>
+  <arg name="vehicle_param_file"/>
+  <arg name="use_pointcloud_container"/>
+  <arg name="pointcloud_container_name"/>
+  <arg name="enable_fine_detection"/>
+
+  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
+    <arg name="mode" value="$(var mode)"/>
+    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
+
+    <arg
+      name="object_recognition_detection_object_lanelet_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_object_position_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_position_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_pointcloud_map_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
+    />
+    <arg
+      name="obstacle_segmentation_ground_segmentation_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml"
+    />
+    <arg
+      name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
+    />
+  </include>
+</launch>

autoware_launch/package.xml

@@ -13,14 +13,15 @@
   <exec_depend>autoware_api_launch</exec_depend>
   <exec_depend>control_launch</exec_depend>
   <exec_depend>global_parameter_loader</exec_depend>
-  <exec_depend>perception_launch</exec_depend>
   <exec_depend>planning_launch</exec_depend>
   <exec_depend>python3-bson</exec_depend>
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>simulator_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
+  <exec_depend>tier4_localization_launch</exec_depend>
   <exec_depend>tier4_map_launch</exec_depend>
+  <exec_depend>tier4_perception_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>
   <exec_depend>tier4_vehicle_launch</exec_depend>
 

control_launch/config/trajectory_follower/trajectory_follower_node.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    ctrl_period: 0.03
+    timeout_thr_sec: 0.5

control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -12,9 +12,11 @@
       lon_jerk_lim: 5.0
       lat_acc_lim: 5.0
       lat_jerk_lim: 5.0
+      actual_steer_diff_lim: 1.0
     on_transition:
       vel_lim: 50.0
       lon_acc_lim: 1.0
       lon_jerk_lim: 0.5
       lat_acc_lim: 1.2
       lat_jerk_lim: 0.75
+      actual_steer_diff_lim: 0.05

control_launch/launch/control.launch.py

@@ -39,6 +39,11 @@ def launch_setup(context, *args, **kwargs):
     lon_controller_param_path = LaunchConfiguration("lon_controller_param_path").perform(context)
     with open(lon_controller_param_path, "r") as f:
         lon_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+    trajectory_follower_node_param_path = LaunchConfiguration(
+        "trajectory_follower_node_param_path"
+    ).perform(context)
+    with open(trajectory_follower_node_param_path, "r") as f:
+        trajectory_follower_node_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     vehicle_cmd_gate_param_path = LaunchConfiguration("vehicle_cmd_gate_param_path").perform(
         context
     )
@@ -83,6 +88,7 @@ def launch_setup(context, *args, **kwargs):
                 "longitudinal_controller_mode": LaunchConfiguration("longitudinal_controller_mode"),
             },
             nearest_search_param,
+            trajectory_follower_node_param,
             lon_controller_param,
             lat_controller_param,
         ],
@@ -208,7 +214,12 @@ def launch_setup(context, *args, **kwargs):
         launch_arguments=[
             ("use_intra_process", LaunchConfiguration("use_intra_process")),
             ("target_container", "/control/control_container"),
-            ("initial_selector_mode", LaunchConfiguration("initial_selector_mode")),
+            # This is temporary uncomment. I will replace control_launch with tier4_control_launch soon.
+            # ("initial_selector_mode", LaunchConfiguration("initial_selector_mode")),
+            (
+                "external_cmd_selector_param_path",
+                LaunchConfiguration("external_cmd_selector_param_path"),
+            ),
         ],
     )
 
@@ -284,15 +295,23 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "lat_controller_param_path",
         [
             FindPackageShare("control_launch"),
-            "/config/mpc_lateral_controller/mpc_lateral_controller.param.yaml",
+            "/config/trajectory_follower/lateral/mpc.param.yaml",
         ],
         "path to the parameter file of lateral controller. default is `mpc_follower`",
     )
     add_launch_arg(
         "lon_controller_param_path",
         [
             FindPackageShare("control_launch"),
-            "/config/pid_longitudinal_controller/pid_longitudinal_controller.param.yaml",
+            "/config/trajectory_follower/longitudinal/pid.param.yaml",
+        ],
+        "path to the parameter file of longitudinal controller",
+    )
+    add_launch_arg(
+        "trajectory_follower_node_param_path",
+        [
+            FindPackageShare("control_launch"),
+            "/config/trajectory_follower/trajectory_follower_node.param.yaml",
         ],
         "path to the parameter file of longitudinal controller",
     )
@@ -332,6 +351,13 @@ def add_launch_arg(name: str, default_value=None, description=None):
 
     # external cmd selector
     add_launch_arg("initial_selector_mode", "remote", "local or remote")
+    add_launch_arg(
+        "external_cmd_selector_param_path",
+        [
+            FindPackageShare("external_cmd_selector"),
+            "/config/external_cmd_selector.param.yaml",
+        ],
+    )
 
     # component
     add_launch_arg("use_intra_process", "false", "use ROS2 component container communication")