Ros2 v0.8.0 vehicle launch (autowarefoundation#55)

* restore file name

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* Add default config of aip_x1 (autowarefoundation#141)

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

* Pass all args to vehicle_interface.launch (autowarefoundation#147)

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

* Revert "restore file name"

This reverts commit 3e28661e8ba1a44cc570ca19b7b4759ba0bf0941.

* fix vehicle_interface.launch arg

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* [vehicle_launch]: Remove pass_all_args

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>

vehicle_launch/config/default/aip_x1/sensor_kit_calibration.yaml

@@ -0,0 +1,28 @@
+sensor_kit_base_link2velodyne_top_base_link:
+  x: 0.000
+  y: 0.000
+  z: 0.000
+  roll: 0.000
+  pitch: 0.000
+  yaw: 0.000
+sensor_kit_base_link2livox_front_left_base_link:
+  x: 1.054
+  y: 0.260
+  z: -1.330
+  roll: 0.000
+  pitch: 0.000
+  yaw: 1.047
+sensor_kit_base_link2livox_front_center_base_link:
+  x:  1.054
+  y: 0.000
+  z: -1.330
+  roll: 0.000
+  pitch: 0.000
+  yaw: 0.000
+sensor_kit_base_link2livox_front_right_base_link:
+  x: 1.054
+  y: -0.260
+  z: -1.330
+  roll: 0.000
+  pitch: 0.000
+  yaw: -1.047

vehicle_launch/config/default/aip_x1/sensors_calibration.yaml

@@ -0,0 +1,7 @@
+base_link2sensor_kit_base_link:
+  x: 0.555
+  y: 0.000
+  z: 1.810
+  roll: 0.000
+  pitch: 0.000
+  yaw: 0.000

vehicle_launch/launch/vehicle_interface.launch.xml

@@ -11,12 +11,16 @@
   <!-- simulation mode -->
   <group if="$(var simulation)">
     <arg name="simulator_model" default="$(var vehicle_model_pkg)/config/simulator_model.param.yaml" />
-    <include file="$(find-pkg-share simple_planning_simulator)/launch/simple_planning_simulator.launch.xml" pass_all_args="true"/>
+    <include file="$(find-pkg-share simple_planning_simulator)/launch/simple_planning_simulator.launch.xml">
+      <arg name="simulator_model" value="$(var simulator_model)"/>
+      <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+    </include>
   </group>
 
   <!-- real mode -->
   <group unless="$(var simulation)">
     <include file="$(var vehicle_model_pkg)/launch/vehicle_interface.launch.xml">
+      <arg name="vehicle_id" value="$(var vehicle_id)"/>
     </include>
   </group>
 </launch>