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Port planning_sim_launcher to ROS2 #2

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Port planning_sim_launcher to ROS2 #2

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42bc98f
Fix readability + minor semantic issues in Python files
nnmm Nov 26, 2020
8406099
WIP
nnmm Nov 26, 2020
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58 changes: 0 additions & 58 deletions CMakeLists.txt
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16 changes: 3 additions & 13 deletions README.md
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Expand Up @@ -28,7 +28,7 @@ See [https://github.com/tier4/AutowareArchitectureProposal#how-to-setup](https:/

## 2. Usage

(2020/07/01 last modified)
(2020/11/23 last modified)

### 2.1 Get Sample Scenario

Expand Down Expand Up @@ -66,22 +66,12 @@ Note that the Map path must be rewritten when sharing a scenario with multiple u

#### (3) Execute

##### (a) Terminal A

``` shell
source /opt/ros/melodic/setup.bash
source /path/to/AutowareArchitectureProposal/install/setup.bash

rosrun planning_simulator_launcher scenario_roslaunch_server.py
```

#### (b) Terminal B

``` shell
source /opt/ros/melodic/setup.bash
source /opt/ros/foxy/setup.bash
source /path/to/AutowareArchitectureProposal/install/setup.bash

rosrun planning_simulator_launcher launch.py --timeout=180 && rosrun planning_simulator_launcher show_result.py ./scenario/generated ./scenario/log
ros2 run planning_simulator_launcher launch.py --timeout=180 && ros2 run planning_simulator_launcher show_result.py ./scenario/generated ./scenario/log
```
Command-line arguments of script `python show_result.py` is depends on the path you written in `scenario_database.json`.
1st argument is path to your directory your scenarios placed on + `/generated`.
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4 changes: 2 additions & 2 deletions launch.py
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Expand Up @@ -2,9 +2,9 @@

print('\x1B[1;31mThis script has been deprecated.\x1B[0m')
print('\x1B[1;31mPlease use the following command.\x1B[0m')
print('\x1B[1;32m> rosrun planning_simulator_launcher launch.py\x1B[0m')
print('\x1B[1;32m> ros2 run planning_simulator_launcher launch.py\x1B[0m')

import os
import sys

os.system('rosrun planning_simulator_launcher launch.py ' + ' '.join(sys.argv[1:]))
os.system('ros2 run planning_simulator_launcher launch.py ' + ' '.join(sys.argv[1:]))
9 changes: 3 additions & 6 deletions launch/default.launch
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Expand Up @@ -5,10 +5,7 @@
<arg name="vehicle_model" default="lexus"/> <!-- PROJECT REPOSITORY EDIT HERE! -->
<arg name="rviz" default="true"/>

<arg name="log_output_dir"/>
<arg name="scenario_id"/>
<arg name="scenario_path"/>
<arg name="scenario_runner_output" default="screen"/>

<include file="$(find planning_simulator_launcher)/launch/scenario_launcher.launch" pass_all_args="true"/>
<include file="$(find-pkg-share planning_simulator_launcher)/launch/scenario_launcher.launch" pass_all_args="true">
<param from="$eval($(find-pkg-share($var(vehicle_model) + '_description')+'/config/vehicle_info.yaml" />
</include>
</launch>
56 changes: 9 additions & 47 deletions launch/scenario_launcher.launch
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Expand Up @@ -6,69 +6,31 @@
<arg name="vehicle_model"/>
<arg name="rviz" default="true"/>
<arg name="use_object_recognition" default="true"/>

<!-- Parameters for Scenario Runner -->
<arg name="log_output_dir"/>
<arg name="scenario_id"/>
<arg name="scenario_path"/>
<arg name="scenario_runner_output" default="screen"/>
<arg name="initial_engage_state" />

<!-- Simulation Clock -->
<arg name="use_sim_time" default="false"/>
<param name="/use_sim_time" value="$(arg use_sim_time)"/>

<!-- Planning Simulator -->
<include file="$(find autoware_launch)/launch/planning_simulator.launch">
<include file="$(find-pkg-share autoware_launch)/launch/planning_simulator.launch">
<!-- planning_simulator.launch's essential parameters -->
<arg name="map_path" value="$(arg map_path)"/>
<arg name="sensor_model" value="$(arg sensor_model)"/>
<arg name="vehicle_model" value="$(arg vehicle_model)"/>
<arg name="map_path" value="$(var map_path)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="vehicle_model" value="$(var vehicle_model)"/>

<!-- planning_simulator.launch's optional parameters -->
<arg name="rviz" value="$(arg rviz)"/>
<arg name="rviz_args" value="-d $(find scenario_api)/rviz/planning_simulator.rviz"/>
<arg name="rviz" value="$(var rviz)"/>
<arg name="rviz_args" value="-d $(find-pkg-share scenario_api)/rviz/planning_simulator.rviz"/>

<!-- simple_planning_simulator.launch's optional parameters -->
<arg name="initial_engage_state" value="false"/>

<!-- dummy_perception_publisher.launch's optional parameters -->
<arg name="perception/enable_detection_failure" value="false" />
<arg name="perception/enable_object_recognition" value="$(arg use_object_recognition)" />
<arg name="perception/enable_object_recognition" value="$(var use_object_recognition)" />
<arg name="sensing/visible_range" value="1000" />
</include>

<include file="$(find npc_simulator)/launch/npc_simulator.launch">
<arg name="initial_engage_state" value="false"/>
</include>

<!-- Scenario Runner -->
<node pkg="scenario_runner" type="scenario_runner_node" name="scenario_runner_node" output="$(arg scenario_runner_output)">
<param name="camera_frame_id" value="camera5/camera_optical_link"/> <!-- base link of front camera -->
<param name="log_output_path" value="$(arg log_output_dir)/$(arg scenario_id).json"/>
<param name="scenario_id" value="$(arg scenario_id)"/>
<param name="scenario_path" value="$(arg scenario_path)"/>
<remap from="~input/autoware_state" to="/autoware/state"/>
<remap from="~input/pointcloud" to="/sensing/lidar/no_ground/pointcloud"/>
<remap from="~input/route" to="/planning/mission_planning/route"/>
<remap from="~input/signal_command" to="/vehicle/status/turn_signal"/>
<remap from="~input/vectormap" to="/map/vector_map"/>
<remap from="~input/vehicle_twist" to="/vehicle/status/twist"/>
<remap from="~output/autoware_engage" to="/autoware/engage"/>
<remap from="~output/check_point" to="/planning/mission_planning/checkpoint"/>
<remap from="~output/goal_point" to="/planning/mission_planning/goal"/>
<remap from="~output/initial_velocity" to="/initialtwist"/>
<remap from="~output/lane_change_permission" to="/planning/scenario_planning/lane_driving/lane_change_approval"/>
<remap from="~output/limit_velocity" to="/planning/scenario_planning/max_velocity"/>
<remap from="~output/npc_simulator_engage" to="/simulation/npc_simulator/engage"/>
<remap from="~output/object_info" to="/simulation/npc_simulator/object_info"/>
<remap from="~output/simulator_engage" to="/vehicle/engage"/>
<remap from="~output/start_point" to="/initialpose"/>
<remap from="~output/traffic_detection_result" to="/perception/traffic_light_recognition/traffic_light_states"/>
<remap from="~rosparam/add_simulator_noise" to="/simple_planning_simulator/add_measurement_noise"/> <!-- rosparam: add simulator noise or not -->
<remap from="~rosparam/max_velocity" to="/planning/scenario_planning/motion_velocity_optimizer/max_velocity"/> <!-- rosparam: max velocity -->
<remap from="~rosparam/simulator_pos_noise" to="/simple_planning_simulator/pos_noise_stddev"/> <!-- rosparam: std of simulator pos noise -->
</node>

<!-- Recording -->
<node pkg="rosbag" type="record" name="rosbag_recorder" output="screen" respawn="false" respawn_delay="0" args="record --lz4 -a -O $(arg log_output_dir)/$(arg scenario_id).bag"/>
<node pkg="rosbag" exec="record" name="rosbag_recorder" output="screen" respawn="false" respawn_delay="0" args="record --lz4 -a -O $(var log_dir)/$(var scenario_id).bag"/>
</launch>
2 changes: 1 addition & 1 deletion package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>planning_simulator_launcher</name>
<version>0.0.1</version>
<version>0.0.0</version>
<description>The planning_simulator_launcher package</description>

<maintainer email="[email protected]">Masaya Kataoka</maintainer>
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