feat(autoware_test_utils): move test_map, add launcher for test_map (#…

…9045)

Signed-off-by: Mamoru Sobue <[email protected]>

common/autoware_test_utils/CMakeLists.txt

@@ -25,4 +25,5 @@ ament_auto_package(INSTALL_TO_SHARE
   config
   test_map
   test_data
+  launch
 )

common/autoware_test_utils/README.md

@@ -15,7 +15,7 @@ The objective of the `test_utils` is to develop a unit testing library for the A
 
 ## Available Maps
 
-The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_test_utils/test_map)
+The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/common/autoware_test_utils/test_map)
 
 ### Common
 
@@ -33,6 +33,40 @@ The following illustrates the design of the map.
 
 ![straight_diagram](./images/2km-test.svg)
 
+### road_shoulders
+
+The road_shoulders lanelet map consist of a variety of pick-up/drop-off site maps with road_shoulder tags including:
+
+- pick-up/drop-off sites on the side of street lanes
+- pick-up/drop-off sites on the side of curved lanes
+- pick-up/drop-off sites inside a private area
+
+![road_shoulder_test](./images/road_shoulder_test_map.png)
+
+You can easily launch planning_simulator by
+
+```bash
+ros2 launch autoware_test_utils psim_road_shoulder.launch.xml vehicle_model:=<> sensor_model:=<> use_sim_time:=true
+```
+
+### intersection
+
+The intersections lanelet map consist of a variety of intersections including:
+
+- 4-way crossing with traffic light
+- 4-way crossing without traffic light
+- T-shape crossing without traffic light
+- intersection with a loop
+- complicated intersection
+
+![intersection_test](./images/intersection_test_map.png)
+
+You can easily launch planning_simulator by
+
+```bash
+ros2 launch autoware_test_utils psim_intersection.launch.xml vehicle_model:=<> sensor_model:=<> use_sim_time:=true
+```
+
 ## Example use cases
 
 ### Autoware Planning Test Manager

common/autoware_test_utils/launch/psim_intersection.launch.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
+  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <arg name="use_sim_time" default="true"/>
+
+  <include file="$(find-pkg-share autoware_launch)/launch/planning_simulator.launch.xml">
+    <arg name="map_path" value="$(find-pkg-share autoware_test_utils)/test_map/intersection"/>
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+    <arg name="use_sim_time" value="$(var use_sim_time)"/>
+    <arg name="rviz_config" value="$(var rviz_config)"/>
+  </include>
+</launch>

common/autoware_test_utils/launch/psim_road_shoulder.launch.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
+  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <arg name="use_sim_time" default="true"/>
+
+  <include file="$(find-pkg-share autoware_launch)/launch/planning_simulator.launch.xml">
+    <arg name="map_path" value="$(find-pkg-share autoware_test_utils)/test_map/road_shoulder"/>
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+    <arg name="use_sim_time" value="$(var use_sim_time)"/>
+    <arg name="rviz_config" value="$(var rviz_config)"/>
+  </include>
+</launch>