feat: add autoware_launch package (autowarefoundation#175)

* release v0.4.0 * pointcloud_map_path form autoware_launch as optional (autowarefoundation#45) * pointcloud_map_path form autoware_launch as optional * add lanelet2_map_path * use map_file argments under map_path * Fix unnecessary "default" tag to "value" Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * add some dependencies (autowarefoundation#54) * Add some scenario-simulation specifiec parameters as arguments (autowarefoundation#57) * Add some scenario-simulation specifiec parameters as arguments * Update arg to pass 'initial_engage_state' to simple_planning_simulator * Add new optional argument 'rviz_args' * Rename some roslaunch arguments * Remove unneeded arguments * Fix typo (autowarefoundation#63) Signed-off-by: Kenji Miyake <[email protected]> * add obstacle avoid param (autowarefoundation#62) * Logging simulator (autowarefoundation#65) * Add logging_simulator.launch Signed-off-by: Daisuke Nishimatsu <[email protected]> * Don't load env when launch driver is false Signed-off-by: Daisuke Nishimatsu <[email protected]> * Launch vehicle description in logging simulator (autowarefoundation#67) Signed-off-by: Daisuke Nishimatsu <[email protected]> * add autoware api launcher (autowarefoundation#64) * add blocked by obstacle (autowarefoundation#68) * Fix turn signal topic name (autowarefoundation#75) * Revert "Fix turn signal topic name (autowarefoundation#75)" (autowarefoundation#76) This reverts commit f384b9f7b2e59b7f048926e7eb0fe7c936f5cd3b. * Fix namespace in autoware.rviz (autowarefoundation#78) * Fix/turn signal topic name (autowarefoundation#77) * removed ROS1 package Signed-off-by: mitsudome-r <[email protected]> * Revert "removed ROS1 package" This reverts commit 1e33e7e3f3e839bcdf623f9e3b4b6a14dd4ec35a. * add COLCON_IGNORE file to all ROS1 packages Signed-off-by: mitsudome-r <[email protected]> * rename *.launch files to *.launch.xml Signed-off-by: mitsudome-r <[email protected]> * Ros2 port autoware launch (autowarefoundation#35) * [autoware_launch] port CMakelists.txt and remove COLCON_IGNORE Signed-off-by: mitsudome-r <[email protected]> * [autoware_launch] fix planning_simulator.launch.xml Signed-off-by: mitsudome-r <[email protected]> * [autoware_launch] add rviz config Signed-off-by: mitsudome-r <[email protected]> * [autoware_launch] first port of autoware_launch Signed-off-by: mitsudome-r <[email protected]> * lanuch rviz with config file Signed-off-by: kosuke murakami <[email protected]> * modify launch file for making psim work Signed-off-by: kosuke murakami <[email protected]> * add vehicle model in launch Signed-off-by: kosuke murakami <[email protected]> * change from vehicle_model to vehicle_param_file Signed-off-by: kosuke murakami <[email protected]> * [autoware_launch] add autoware_web_controller and system launch Signed-off-by: mitsudome-r <[email protected]> * add rosbrdige_suite to build_depends.repos Signed-off-by: mitsudome-r <[email protected]> * Update rviz Signed-off-by: wep21 <[email protected]> * update autoware.rviz Signed-off-by: mitsudome-r <[email protected]> * remove autoware_ros2.rviz Signed-off-by: mitsudome-r <[email protected]> Co-authored-by: kosuke murakami <[email protected]> Co-authored-by: wep21 <[email protected]> * Update rviz config for vehicle rviz plugins (autowarefoundation#41) Signed-off-by: wep21 <[email protected]> * Ros2 v0.8.0 fix packages (autowarefoundation#64) * add vehicle_param_file to simple planning simulator * add vehicle_param_file to lane change planner * Rename ROS-related .yaml to .param.yaml (autowarefoundation#65) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake <[email protected]> * Add missing '--' Signed-off-by: Kenji Miyake <[email protected]> * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake <[email protected]> * Fix livox param name Signed-off-by: Kenji Miyake <[email protected]> * Ros2 v0.8.0 autoware launch (autowarefoundation#58) * [autoware_launch] ros2-porting: v0.5.0 to v0.8.0 Signed-off-by: Takamasa Horibe <[email protected]> * Cleanup autoware and logging simulator launch * Add .xml extention * Fix missing arguments * Fix tag * Fix web controller launch Signed-off-by: wep21 <[email protected]> * Update rviz Signed-off-by: wep21 <[email protected]> * [autoware_launch] Fix yaml name Signed-off-by: wep21 <[email protected]> * [autoware_launch] Cleanup dependencies Signed-off-by: wep21 <[email protected]> Co-authored-by: wep21 <[email protected]> * [autoware_launch]: Fix missing arguments (autowarefoundation#66) Signed-off-by: Autoware <[email protected]> Co-authored-by: Autoware <[email protected]> * Ros2 update v0.9.0 (autowarefoundation#67) * Add pose history into rviz config Signed-off-by: wep21 <[email protected]> * add blocked by obstacle option (autowarefoundation#164) * fix tab name (autowarefoundation#166) * disenable ndt visualization (autowarefoundation#169) * disenable ndt visualization * change alpha * dont visualize position covariance Signed-off-by: wep21 <[email protected]> * change global frame to map (autowarefoundation#171) * add param (autowarefoundation#156) Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: Taichi Higashide <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]> Co-authored-by: tkimura4 <[email protected]> * Sync with Ros2 v0.8.0 beta (autowarefoundation#71) * update sensing launch to support aip_x1 (autowarefoundation#69) Signed-off-by: taichiH <[email protected]> * fix logging_simulator_bug (autowarefoundation#68) Signed-off-by: taichiH <[email protected]> * fix aip_x1 param (autowarefoundation#70) Signed-off-by: taichiH <[email protected]> Co-authored-by: Taichi Higashide <[email protected]> * temporary disable steering angle plugin to avoid RVIZ2 to crash (autowarefoundation#76) Signed-off-by: mitsudome-r <[email protected]> * fix rviz settings (autowarefoundation#77) * Points -> Squares * disable road_lanelets * visualize path of dynamic object * fix durability policy of route_marker * fix topic name * fix topic name of check point * fix some options about object * add clock_publisher and autoware_version (autowarefoundation#79) * add clock_publisher and autoware_version Signed-off-by: mitsudome-r <[email protected]> * update package.xml Signed-off-by: mitsudome-r <[email protected]> * update build_depends.repos Signed-off-by: mitsudome-r <[email protected]> * fix CI Signed-off-by: mitsudome-r <[email protected]> * Fix typo in rviz config (autowarefoundation#80) Signed-off-by: wep21 <[email protected]> * fixed typo and added AW_ROS2_USE_SIM_TIME setting (autowarefoundation#81) Co-authored-by: hosokawa <[email protected]> * Fix point size in rviz (autowarefoundation#84) Signed-off-by: wep21 <[email protected]> * Use sensor data qos for pointcloud (autowarefoundation#82) Signed-off-by: Autoware <[email protected]> Co-authored-by: Autoware <[email protected]> * Ros2 fix topic name part1 (autowarefoundation#83) * Fix topic name for behavior_velocity_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of lane_change_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of freespace_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name for freespace_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix various typos in launch files (autowarefoundation#97) * add use_sim-time option (autowarefoundation#99) * Format launch files (autowarefoundation#178) Signed-off-by: Kenji Miyake <[email protected]> * Replace doc by description (autowarefoundation#182) Signed-off-by: Kenji Miyake <[email protected]> * Sync public repo (autowarefoundation#185) * add tier4 usbcam (autowarefoundation#104) * add tier4 usbcam * change version * tier4/ros2 * Ros2 vehicle info param server (autowarefoundation#96) * add vehicle info param server * delete vehicle param file Co-authored-by: taikitanaka <[email protected]> * Ros2 fix topic name part2 (autowarefoundation#89) * Fix topic name for traffic_light_classifier Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name for traffic_light_visualization Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name for traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: tkimura4 <[email protected]> Co-authored-by: taikitanaka <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> * Ros2 lsim test (autowarefoundation#186) * Add group to launch file for var scope Signed-off-by: Takagi, Isamu <[email protected]> * Remove pointcloud relay for localization Signed-off-by: Takagi, Isamu <[email protected]> * Add use_sim_time Signed-off-by: Takagi, Isamu <[email protected]> * Remove pointcloud relay for localization Signed-off-by: Takagi, Isamu <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> * Add vehicle info param server into logging simulator (autowarefoundation#194) Signed-off-by: wep21 <[email protected]> * Use set_parameter for use_sim_time (autowarefoundation#198) * Use set_parameter for use_sim_time Signed-off-by: wep21 <[email protected]> * Add default parameter for scenario simulator Signed-off-by: wep21 <[email protected]> * Add control composed launch (autowarefoundation#201) Signed-off-by: wep21 <[email protected]> * add param for psim v2 (autowarefoundation#197) * add param for psim v2 Signed-off-by: kosuke murakami <[email protected]> * Update to pass var 'scenario_simulation' to dummy_perception_publisher * Update dummy_perception_publisher's arg-name Co-authored-by: yamacir-kit <[email protected]> * Feature/porting v0.9.1 master (autowarefoundation#202) * add simulation arg (autowarefoundation#174) * add simulation arg * add comment * change arg name * add parameter use_empty_dynamic_object_publisher into perception.launch (autowarefoundation#176) Signed-off-by: Azumi Suzuki <[email protected]> Co-authored-by: Yusuke FUJII <[email protected]> Co-authored-by: s-azumi <[email protected]> * Add vehicle info launch for setting vehicle info param (autowarefoundation#199) * Add vehicle info launch for setting vehicle info param Signed-off-by: wep21 <[email protected]> * Add comment for global parameters section Signed-off-by: wep21 <[email protected]> * Fix year and apply format Signed-off-by: Kenji Miyake <[email protected]> * Remove ready vehicle info param Signed-off-by: wep21 <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * Remove vehicle info param server from logging simulator (autowarefoundation#211) Signed-off-by: wep21 <[email protected]> * Add map.launch.py (autowarefoundation#212) * Add map.launch.py Signed-off-by: wep21 <[email protected]> * Update map.launch.xml Signed-off-by: wep21 <[email protected]> * Rename parameter for lanelet2 map path Signed-off-by: wep21 <[email protected]> * Exclude dummy_perception_publisher.launch.xml if is scenario_simulation (autowarefoundation#230) * Remove clock publisher (autowarefoundation#217) Signed-off-by: wep21 <[email protected]> * Fixup for autowarefoundation#217 (autowarefoundation#254) * Fixup for autowarefoundation#217 Signed-off-by: Kenji Miyake <[email protected]> * Fix typo Signed-off-by: Kenji Miyake <[email protected]> * Add global_params.launch.py (autowarefoundation#260) Signed-off-by: Kenji Miyake <[email protected]> * Add time panel (autowarefoundation#233) * Move global_params.launch.py and vehicle_info.launch.py to autoware_global_parameter_loader (autowarefoundation#282) * Move global_params.launch.py and vehicle_info.launch.py to autoware_global_parameter_loader Signed-off-by: Kenji Miyake <[email protected]> * Add exec_depend Signed-off-by: Kenji Miyake <[email protected]> * add descriptions for autoware_launch autowarefoundation#329 * add README.md and svg files (autowarefoundation#328) * add md and svg * fix typo * fix typo * fix word * fix typo * add lack of things * Update README * fix depending packages * fix word * Add autoware api (autowarefoundation#376) * Add external api adaptor (autowarefoundation#267) * Add external api adaptor * Add api adaptor to logging simulator Signed-off-by: Takagi, Isamu <[email protected]> * Add engage status output Signed-off-by: Takagi, Isamu <[email protected]> * Add internal api adaptor (autowarefoundation#273) Signed-off-by: Takagi, Isamu <[email protected]> * Add map hash generator (autowarefoundation#319) Signed-off-by: Takagi, Isamu <[email protected]> * Add autoware api launch (autowarefoundation#326) * Add autoware api launch Signed-off-by: Takagi, Isamu <[email protected]> * Apply autoware api launch Signed-off-by: Takagi, Isamu <[email protected]> * Add deprecated comment Signed-off-by: Takagi, Isamu <[email protected]> * Remove unused parameter (autowarefoundation#325) Signed-off-by: Takagi, Isamu <[email protected]> * Add api parameter (autowarefoundation#341) Signed-off-by: Takagi, Isamu <[email protected]> * Add start request API (autowarefoundation#321) * Add use start request option Signed-off-by: Takagi, Isamu <[email protected]> * Fix lint Signed-off-by: Takagi, Isamu <[email protected]> * Feature external cmd selector heartbeat (autowarefoundation#356) * Rename external command topic Signed-off-by: Takagi, Isamu <[email protected]> * Modify command topic name Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name Signed-off-by: Takagi, Isamu <[email protected]> * Rename remote_cmd_converter Signed-off-by: Takagi, Isamu <[email protected]> * Remove gate mode from external command Signed-off-by: Takagi, Isamu <[email protected]> * Fix latest external command name (autowarefoundation#361) Signed-off-by: Takagi, Isamu <[email protected]> * Fix merge conflict Signed-off-by: Takagi, Isamu <[email protected]> * change external traffic light topic name in behavior velocity planner (autowarefoundation#310) * fix topic * change internal topic name Co-authored-by: yabuta <[email protected]> * Feature/add virtual traffic light planner (autowarefoundation#317) * Move autoware api launch files (autowarefoundation#387) * Fix misspell in rviz config (autowarefoundation#392) Signed-off-by: Takagi, Isamu <[email protected]> * update rviz config (autowarefoundation#399) * update rviz config * update config * Fix pre-commit (autowarefoundation#407) * Fix pre-commit errors Signed-off-by: Kenji Miyake <[email protected]> * Fix package.xml Signed-off-by: Kenji Miyake <[email protected]> * Add polar grid into rviz config (autowarefoundation#458) * 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]> * add steering angle (autowarefoundation#476) * 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 * Add sensor_model to system_launch (autowarefoundation#480) Signed-off-by: Kenji Miyake <[email protected]> * hide traffic light id by default (autowarefoundation#286) Co-authored-by: satoshi-ota <[email protected]> * Feature/porting behavior path planner (autowarefoundation#300) * modify behavior_planning launch for behavior_path_planner with lane_c… (autowarefoundation#239) * modify behavior_planning launch for behavior_path_planner with lane_change_only config Signed-off-by: Takamasa Horibe <[email protected]> * remove avoidance & side_shift related code Signed-off-by: Takamasa Horibe <[email protected]> * Fix launcher and add config files and change obstacle avoid param * Add new line * Fix visualization and remove multiple args * Enable auto approve path change Co-authored-by: rej55 <[email protected]> Signed-off-by: wep21 <[email protected]> * add param in behavior_path_planner (autowarefoundation#255) Signed-off-by: Takamasa Horibe <[email protected]> * Fix param (autowarefoundation#251) * Fix typo Signed-off-by: wep21 <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: rej55 <[email protected]> * update rviz config & planner params (autowarefoundation#305) Co-authored-by: satoshi-ota <[email protected]> * Feature/porting occlusion spot (autowarefoundation#309) * add occulusion_spot marker (autowarefoundation#266) * add blindspot marker * to occlusion spot slow down * remove debug info from marker (autowarefoundation#287) * remove debug info from marker * remove debug arrow * fix format * update behavior launch * apply pep8 * fix format Co-authored-by: taikitanaka3 <[email protected]> * Feature/porting camera lidar fusion (autowarefoundation#316) * Feature/camera lidar fusion (autowarefoundation#248) * change camera lidar fusion node * change default mode of object recognition * change spilit range parameter from 10 to 30 (autowarefoundation#272) Co-authored-by: Yukihiro Saito <[email protected]> * add underscore to marker namespace (autowarefoundation#323) Co-authored-by: satoshi-ota <[email protected]> * Feature/hide verbose marker (autowarefoundation#322) * tmp : enable slow down * hide verbose markers * Revert "tmp : enable slow down" This reverts commit 5ad32c5903866d9cf946cc47b0b35cefa359d502. * update rviz tool bar Co-authored-by: satoshi-ota <[email protected]> * update rviz config ( add shoulder road lanelets ) (autowarefoundation#420) * update rviz config * Apply suggestions from code review * Apply suggestions from code review * Apply suggestions from code review * Fix for pre-commit (437) Signed-off-by: Kenji Miyake <[email protected]> * 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 * change topic name for rviz plugin (autowarefoundation#114) * Auto/launcher ground segmentation (autowarefoundation#117) * add base line launch * add ground_segmentation launcher * run pre-commit * clean up * fix coding style * fix topic name * fix yaml params * fix loader name * rename components * improve implementation * Sync .auto branch with the latest branch in internal repository (autowarefoundation#120) * Disbale intersection polygon marker (autowarefoundation#483) Signed-off-by: wep21 <[email protected]> * Merge pull request autowarefoundation#384 from tier4/feature/no_stopping_area Feature/no stopping area Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> * fix turn signal to indicators (autowarefoundation#123) * fix no ground points topic name (autowarefoundation#125) * support x1 perception config (autowarefoundation#129) * support x1 perception config * remove product config * update launch.py * maintain some filters params in yaml file * add function to create elevation map pipeline * add param to yaml * fix/rviz perception config (autowarefoundation#138) * fix/rename segmentation namespace (autowarefoundation#139) * fix namespace: rviz config * fix namespace: planning stack * rename segmentatino directory * fix namespace: perception stack * fix/add arg in order to disable dummy_perception_publisher from command line (autowarefoundation#144) * change topic name for predicted trajectory (autowarefoundation#145) * feature/use common pointcloud container (autowarefoundation#147) * add container argument * load composable node to pointcloud_container * fix autoware_launch * enable multi-thread * improve readability * add vehicle_info_param_file Signed-off-by: tomoya.kimura <[email protected]> * ci(pre-commit): autofix * fix launch files and remove api launch Signed-off-by: tomoya.kimura <[email protected]> * ci(pre-commit): autofix * add initial pose relay Signed-off-by: tomoya.kimura <[email protected]> Co-authored-by: mitsudome-r <[email protected]> Co-authored-by: hiroyuki obinata <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Yamasaki Tatsuya <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Kosuke Murakami <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: wep21 <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Autoware <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: Taichi Higashide <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]> Co-authored-by: HOSOKAWA Ikuto <[email protected]> Co-authored-by: hosokawa <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> Co-authored-by: Kazuki Miyahara <[email protected]> Co-authored-by: taikitanaka <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> Co-authored-by: Keisuke Shima <[email protected]> Co-authored-by: Yusuke FUJII <[email protected]> Co-authored-by: s-azumi <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: yabuta <[email protected]> Co-authored-by: Keisuke Shima <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> Co-authored-by: satoshi-ota <[email protected]> Co-authored-by: Takeshi Miura <[email protected]> Co-authored-by: Sugatyon <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
badai-nguyen · Dec 14, 2021 · eb60bc4 · eb60bc4
1 parent 8364b4f
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diff --git a/launch/autoware_launch/CMakeLists.txt b/launch/autoware_launch/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.5)
+project(autoware_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
+  rviz
+)
diff --git a/launch/autoware_launch/README.md b/launch/autoware_launch/README.md
@@ -0,0 +1,17 @@
+# autoware_launch
+
+## Structure
+
+![autoware_launch](./autoware_launch.drawio.svg)
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+You can use the command as follows at shell script to launch `*.launch.xml` in `launch` directory.
+
+```bash
+ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
+```
diff --git a/launch/autoware_launch/autoware_launch.drawio.svg b/launch/autoware_launch/autoware_launch.drawio.svg
diff --git a/launch/autoware_launch/launch/autoware.launch.xml b/launch/autoware_launch/launch/autoware.launch.xml
@@ -0,0 +1,85 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <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="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
+    <arg name="vehicle_model" value="$(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="$(var vehicle_model)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+  </include>
+
+  <!-- System -->
+  <include file="$(find-pkg-share system_launch)/launch/system.launch.xml">
+    <arg name="run_mode" value="online"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+  </include>
+
+  <!-- Map -->
+  <include file="$(find-pkg-share map_launch)/launch/map.launch.py">
+    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)" />
+    <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+  </include>
+
+  <!-- Sensing -->
+  <include file="$(find-pkg-share sensing_launch)/launch/sensing.launch.xml">
+    <arg name="launch_driver" value="true"/>
+    <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="$(var pointcloud_container_name)"/>
+  </include>
+
+  <!-- Localization -->
+  <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml">
+  </include>
+
+  <!-- Perception -->
+  <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
+    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
+    <arg name="mode" value="camera_lidar_fusion" />
+    <arg name="vehicle_param_file" value="$(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="$(var pointcloud_container_name)"/>
+  </include>
+
+  <!-- Planning -->
+  <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
+    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+
+  <!-- Control -->
+  <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
+    <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
+    <arg name="lateral_controller_mode" value="mpc_follower" />
+    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+
+  <!-- Rviz -->
+  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)">
+  </node>
+
+  <!-- Web Controller -->
+  <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml" />
+
+</launch>
diff --git a/launch/autoware_launch/launch/logging_simulator.launch.xml b/launch/autoware_launch/launch/logging_simulator.launch.xml
@@ -0,0 +1,127 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <!-- Essential parameters -->
+  <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
+
+  <!-- Optional parameters -->
+  <arg name="vehicle" default="true" description="launch vehicle" />
+  <arg name="system" default="true" description="launch system" />
+  <arg name="map" default="true" description="launch map" />
+  <arg name="sensing" default="true" description="launch sensing" />
+  <arg name="localization" default="true" description="launch localization" />
+  <arg name="perception" default="true" description="launch perception" />
+  <arg name="planning" default="true" description="launch planning" />
+  <arg name="control" default="true" description="launch control" />
+  <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"/>
+  <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="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
+    <arg name="use_sim_time" value="true" />
+    <arg name="vehicle_model" value="$(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="$(var vehicle)">
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="vehicle_id" value="$(var vehicle_id)"/>
+      <arg name="simulation" value="$(var vehicle_simulation)"/>
+    </include>
+  </group>
+
+  <!-- System -->
+  <group>
+    <include file="$(find-pkg-share system_launch)/launch/system.launch.xml" if="$(var system)">
+      <arg name="run_mode" value="online"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+    </include>
+  </group>
+
+  <!-- Map -->
+  <group>
+    <include file="$(find-pkg-share map_launch)/launch/map.launch.py" if="$(var map)">
+      <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)" />
+      <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+    </include>
+  </group>
+
+  <!-- Sensing -->
+  <group>
+    <include file="$(find-pkg-share sensing_launch)/launch/sensing.launch.xml" if="$(var sensing)">
+      <arg name="launch_driver" value="false"/>
+      <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="$(var pointcloud_container_name)"/>
+    </include>
+  </group>
+
+  <!-- Localization -->
+  <group>
+    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml" if="$(var localization)">
+    </include>
+  </group>
+
+  <!-- Perception -->
+  <group>
+    <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml" if="$(var perception)">
+      <!-- options for mode: camera_lidar_fusion, lidar, camera -->
+      <arg name="mode" value="camera_lidar_fusion" />
+      <arg name="vehicle_param_file" value="$(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="$(var pointcloud_container_name)"/>
+    </include>
+  </group>
+
+  <!-- Planning -->
+  <group>
+    <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml" if="$(var planning)">
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
+
+  <!-- Control -->
+  <group>
+    <include file="$(find-pkg-share control_launch)/launch/control.launch.py" if="$(var control)">
+      <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
+      <arg name="lateral_controller_mode" value="mpc_follower" />
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
+
+  <!-- Rviz -->
+  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)">
+  </node>
+
+  <!-- Web Controller -->
+  <group>
+    <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="$(var scenario_simulation)"/>
+    <arg name="vehicle_simulation" value="false"/>
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+</launch>
diff --git a/launch/autoware_launch/launch/planning_simulator.launch.xml b/launch/autoware_launch/launch/planning_simulator.launch.xml
@@ -0,0 +1,81 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
+  <!-- Optional parameters -->
+  <arg name="rviz" default="true" description="launch rviz"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <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"/>
+  <!-- Optional parameters for scenario simulation -->
+  <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
+  <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="true" 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="scenario_simulation" default="false" description="use scenario simulation"/>
+  <!-- Optional parameters for vcu emulation -->
+  <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
+
+  <!-- Global parameters -->
+  <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+  </include>
+
+  <!-- Vehicle -->
+  <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+    <arg name="simulation" value="$(var vehicle_simulation)"/>
+  </include>
+
+  <!-- System -->
+  <include file="$(find-pkg-share system_launch)/launch/system.launch.xml">
+    <arg name="run_mode" value="planning_simulation"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+  </include>
+
+  <!-- Map -->
+  <include file="$(find-pkg-share map_launch)/launch/map.launch.py">
+    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)" />
+    <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+  </include>
+
+  <!-- Planning -->
+  <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
+    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+
+  <!-- Control -->
+  <include file="$(find-pkg-share control_launch)/launch/control.launch.py">
+    <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
+    <arg name="lateral_controller_mode" value="mpc_follower" />
+    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+
+  <!-- Initial Pose Relay -->
+    <node pkg="topic_tools" exec="relay" name="initial_pose_2d">
+      <param name="input_topic" value="/initialpose"/>
+      <param name="output_topic" value="/initialpose2d"/>
+      <param name="type" value="geometry_msgs/msg/PoseWithCovarianceStamped"/>
+    </node>
+
+  <!-- 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)"/>
+
+  <!-- Web Controller -->
+  <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml" unless="$(var scenario_simulation)"/>
+
+  <!-- Simulator -->
+  <include file="$(find-pkg-share simulator_launch)/launch/simulator.launch.xml">
+    <arg name="scenario_simulation" value="$(var scenario_simulation)"/>
+    <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
+    <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
+    <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
+    <arg name="vehicle_simulation" value="$(var vehicle_simulation)"/>
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+    <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+</launch>
diff --git a/launch/autoware_launch/launch/pointcloud_container.launch.py b/launch/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,
+        ]
+    )