feat: add simulator_launch package (autowarefoundation#166)

* Add simulator_launch package (autowarefoundation#459)

* Add simulator_launch package

* add argument

* fix depend order

* add argument

* move dummy_perception_publisher

* add arg for dummy_perception_publisher

* Update simulator_launch/launch/simulator.launch.xml

Co-authored-by: Kenji Miyake <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>

* Move simple_planning_simulator to simulator_launch (autowarefoundation#462)

* move simple_planning_simulator

* add simulation arg to logging_simulator.launch

* delete unused argument

* add arguments for logging simulation

* change default value

* update README

* add default value to simulator arg

* restore vehicle_simulation arg

* Fix/revert initial engage state (autowarefoundation#484)

* Fix args

Signed-off-by: Kenji Miyake <[email protected]>

* Add initial_engage_state to vehicle.launch.xml

Signed-off-by: Kenji Miyake <[email protected]>

* Update vehicle.launch.xml

* Change formatter to black (autowarefoundation#488)

* Update pre-commit settings

* Apply Black

* Replace ament_lint_common with autoware_lint_common

* Update build_depends.repos

* Fix build_depends

* Auto/fix launch (autowarefoundation#110)

* fix namespace

* remove dynamic_object_visualization

* fix rviz

* add default vehicle param file

Signed-off-by: tomoya.kimura <[email protected]>

* ci(pre-commit): autofix

* fix typo

Signed-off-by: tomoya.kimura <[email protected]>

Co-authored-by: Keisuke Shima <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: taikitanaka3 <[email protected]>

launch/simulator_launch/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.5)
+project(simulator_launch)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)

launch/simulator_launch/README.md

@@ -0,0 +1,20 @@
+# simulator_launch
+
+## Structure
+
+![simulator_launch](./simulator_launch.drawio.svg)
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+```xml
+  <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml">
+    <arg name="vehicle_info_param_file" value="VEHICLE_INFO_PARAM_FILE" />
+    <arg name="vehicle_model" value="VEHICLE_MODEL"/>
+  </include>
+```
+
+The simulator model used in simple_planning_simulator is loaded from "config/simulator_model.param.yaml" in the "`VEHICLE_MODEL`\_description" package.

launch/simulator_launch/launch/simulator.launch.xml

@@ -0,0 +1,40 @@
+<launch>
+  <arg name="vehicle_info_param_file" />
+  <arg name="scenario_simulation" default="" description="use scenario simulation"/>
+
+  <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
+  <arg name="perception/enable_object_recognition" default="false" description="enable object recognition when using dummy perception"/>
+  <arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>
+
+  <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
+
+  <let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>
+
+  <group if="$(var scenario_simulation)">
+    <include file="$(find-pkg-share fault_injection)/launch/fault_injection.launch.xml"/>
+  </group>
+
+  <!-- Dummy Perception -->
+  <group unless="$(var scenario_simulation)">
+    <include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
+      <arg name="real" value="$(var perception/enable_detection_failure)"/>
+      <arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
+      <arg name="visible_range" value="$(var sensing/visible_range)"/>
+    </include>
+  </group>
+
+  <!-- Simulator model -->
+  <group if="$(var vehicle_simulation)">
+    <group unless="$(var scenario_simulation)">
+      <arg name="simulator_model" default="$(var vehicle_model_pkg)/config/simulator_model.param.yaml" description="path to the file of simulator model"/>
+      <include file="$(find-pkg-share simple_planning_simulator)/launch/simple_planning_simulator.launch.py">
+        <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)" />
+        <arg name="simulator_model_param_file" value="$(var simulator_model)"/>
+        <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+      </include>
+    </group>
+  </group>
+
+</launch>

launch/simulator_launch/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>simulator_launch</name>
+  <version>0.1.0</version>
+  <description>The simulator_launch package</description>
+
+  <maintainer email="[email protected]">Keisuke Shima</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>dummy_perception_publisher</exec_depend>
+  <exec_depend>fault_injection</exec_depend>
+  <exec_depend>simple_planning_simulator</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>