fix: fix launch args (#6)

Signed-off-by: Kenji Miyake <[email protected]>
autowarefoundation · Feb 28, 2022 · 1341ac8 · 1341ac8
1 parent f90fa31
commit 1341ac8
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Showing 3 changed files with 21 additions and 6 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -30,6 +30,7 @@
     <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="launch_vehicle_interface" value="true"/>
     </include>
   </group>
 

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -42,11 +42,14 @@
 
   <!-- Vehicle -->
   <group>
+    <let name="launch_vehicle_interface" value="false" if="$(var vehicle_simulation)"/>
+    <let name="launch_vehicle_interface" value="true" unless="$(var vehicle_simulation)"/>
+
     <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml" if="$(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)"/>
+      <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
     </include>
   </group>
 
@@ -126,9 +129,12 @@
 
   <!-- Simulator -->
   <group>
+    <let name="launch_dummy_perception" value="false"/>
+    <let name="launch_dummy_vehicle" value="false"/>
+
     <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
-      <arg name="scenario_simulation" value="$(var scenario_simulation)"/>
-      <arg name="vehicle_simulation" value="false"/>
+      <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
+      <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
       <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>

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -25,10 +25,13 @@
 
   <!-- Vehicle -->
   <group>
+    <let name="launch_vehicle_interface" value="false" if="$(var vehicle_simulation)"/>
+    <let name="launch_vehicle_interface" value="true" unless="$(var vehicle_simulation)"/>
+
     <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
-      <arg name="simulation" value="$(var vehicle_simulation)"/>
+      <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
     </include>
   </group>
 
@@ -83,12 +86,17 @@
 
   <!-- Simulator -->
   <group>
+    <let name="launch_dummy_perception" value="false" if="$(var scenario_simulation)"/>
+    <let name="launch_dummy_perception" value="true" unless="$(var scenario_simulation)"/>
+    <let name="launch_dummy_vehicle" value="false" if="$(var scenario_simulation)"/>
+    <let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
+
     <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
-      <arg name="scenario_simulation" value="$(var scenario_simulation)"/>
+      <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
+      <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
       <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"/>