From 1341ac82478238e350f0cb6ad13e61224e62ff8a Mon Sep 17 00:00:00 2001
From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Date: Mon, 28 Feb 2022 14:06:34 +0900
Subject: [PATCH] fix: fix launch args (#6)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 autoware_launch/launch/autoware.launch.xml         |  1 +
 .../launch/logging_simulator.launch.xml            | 12 +++++++++---
 .../launch/planning_simulator.launch.xml           | 14 +++++++++++---
 3 files changed, 21 insertions(+), 6 deletions(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index fb59bcefd1..b09380c113 100644
--- 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
index b471014d5e..e775156cbc 100644
--- 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
index 344b0543b2..d923ab9417 100644
--- 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"/>