Merge remote-tracking branch 'upstream/tier4/universe' into tier4/uni…

…verse

autoware_api_launch/launch/include/internal_api_adaptor.launch.py

@@ -35,6 +35,7 @@ def generate_launch_description():
     }
     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"),

autoware_api_launch/launch/include/internal_api_relay.launch.xml

@@ -1,20 +1,20 @@
 <launch>
   <group>
     <push-ros-namespace namespace="internal"/>
-    <node pkg="topic_tools" exec="relay" name="traffic_light_states">
-      <param name="input_topic" value="/api/autoware/set/traffic_light_states"/>
-      <param name="output_topic" value="/external/traffic_light_recognition/traffic_light_states"/>
-      <param name="type" value="autoware_perception_msgs/msg/TrafficLightStateArray"/>
+    <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="autoware_api_msgs/msg/IntersectionStatus"/>
+      <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="autoware_api_msgs/msg/CrosswalkStatus"/>
+      <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">

autoware_launch/launch/autoware.launch.xml

@@ -4,16 +4,24 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
+  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <!-- Optional parameters -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
 
   <!-- Global parameters -->
-  <include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py">
+  <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
 
+  <!-- Pointcloud container -->
+  <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
+    <arg name="use_multithread" value="true" />
+    <arg name="container_name" value="$(var pointcloud_container_name)"/>
+  </include>
+
   <!-- Vehicle -->
   <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
@@ -38,6 +46,8 @@
     <arg name="sensor_model" value="$(var sensor_model)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   </include>
 
   <!-- Localization -->
@@ -48,6 +58,9 @@
   <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
     <!-- options for mode: camera_lidar_fusion, lidar, camera -->
     <arg name="mode" value="lidar" />
+    <arg name="vehicle_param_file" value="$(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)"/>
   </include>
 
   <!-- Planning -->
@@ -71,6 +84,6 @@
   </node>
 
   <!-- Web Controller -->
-  <include file="$(find-pkg-share autoware_web_controller)/launch/autoware_web_controller.launch.xml" />
+  <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml" />
 
 </launch>

autoware_launch/launch/logging_simulator.launch.xml

@@ -20,13 +20,23 @@
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <arg name="vehicle_simulation" default="false" description="use vehicle simulation"/>
+  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <!-- Optional parameters for scenario simulation -->
+  <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
 
   <!-- Global parameters -->
-  <include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py">
+  <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
     <arg name="use_sim_time" value="true" />
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
 
+  <!-- Pointcloud container -->
+  <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
+    <arg name="use_multithread" value="true" />
+    <arg name="container_name" value="$(var pointcloud_container_name)"/>
+  </include>
+
   <!-- Vehicle -->
   <group>
     <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml" if="$(var vehicle)">
@@ -60,6 +70,8 @@
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
       <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
 
@@ -74,6 +86,9 @@
     <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml" if="$(var perception)">
       <!-- options for mode: camera_lidar_fusion, lidar, camera -->
       <arg name="mode" value="lidar" />
+      <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)"/>
     </include>
   </group>
 
@@ -103,12 +118,12 @@
 
   <!-- Web Controller -->
   <group>
-    <include file="$(find-pkg-share autoware_web_controller)/launch/autoware_web_controller.launch.xml" />
+    <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml" />
   </group>
 
   <!-- Simulator -->
   <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml">
-    <arg name="scenario_simulation" value="false"/>
+    <arg name="scenario_simulation" value="$(var scenario_simulation)"/>
     <arg name="vehicle_simulation" value="false"/>
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>

autoware_launch/launch/planning_simulator.launch.xml

@@ -19,7 +19,7 @@
   <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
 
   <!-- Global parameters -->
-  <include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py">
+  <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
 
@@ -62,7 +62,7 @@
   <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)"/>
 
   <!-- Web Controller -->
-  <include file="$(find-pkg-share autoware_web_controller)/launch/autoware_web_controller.launch.xml" unless="$(var scenario_simulation)"/>
+  <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml" unless="$(var scenario_simulation)"/>
 
   <!-- Simulator -->
   <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml">

autoware_launch/launch/pointcloud_container.launch.py

@@ -0,0 +1,57 @@
+# 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 SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+
+
+def generate_launch_description():
+    def add_launch_arg(name: str, default_value=None):
+        return DeclareLaunchArgument(name, default_value=default_value)
+
+    set_container_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container",
+        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    set_container_mt_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container_mt",
+        condition=IfCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    pointcloud_container = ComposableNodeContainer(
+        name=LaunchConfiguration("container_name"),
+        namespace="/",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
+        composable_node_descriptions=[],
+        output="screen",
+    )
+
+    return LaunchDescription(
+        [
+            add_launch_arg("use_multithread", "false"),
+            add_launch_arg("container_name", "pointcloud_container"),
+            set_container_executable,
+            set_container_mt_executable,
+            pointcloud_container,
+        ]
+    )

autoware_launch/package.xml

@@ -10,9 +10,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>autoware_api_launch</exec_depend>
-  <exec_depend>autoware_global_parameter_loader</exec_depend>
-  <exec_depend>autoware_web_controller</exec_depend>
   <exec_depend>control_launch</exec_depend>
+  <exec_depend>global_parameter_loader</exec_depend>
   <exec_depend>localization_launch</exec_depend>
   <exec_depend>map_launch</exec_depend>
   <exec_depend>perception_launch</exec_depend>
@@ -24,6 +23,7 @@
   <exec_depend>simulator_launch</exec_depend>
   <exec_depend>system_launch</exec_depend>
   <exec_depend>vehicle_launch</exec_depend>
+  <exec_depend>web_controller</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>