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feat(psim)!: preapre settings to launch localization modules on psim #1094

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merged 3 commits into from
Aug 19, 2024
Merged

feat(psim)!: preapre settings to launch localization modules on psim #1094

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0d004f8
rebase
yuki-takagi-66 Jul 26, 2024
ef76bc9
rebase to new mode name
yuki-takagi-66 Aug 14, 2024
00b87d0
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yuki-takagi-66 Aug 14, 2024
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3 changes: 3 additions & 0 deletions autoware_launch/launch/components/tier4_simulator_component.launch.xml
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Expand Up @@ -51,7 +51,10 @@
name="object_recognition_tracking_multi_object_tracker_node_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml"
/>
<arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
<arg name="ekf_localizer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ekf_localizer.param.yaml"/>
<arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml"/>
<arg name="twist2accel_param_path" value="$(find-pkg-share autoware_launch)/config/localization/twist2accel.param.yaml"/>
<arg name="laserscan_based_occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>
<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
<arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
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2 changes: 1 addition & 1 deletion autoware_launch/launch/planning_simulator.launch.xml
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Expand Up @@ -41,7 +41,7 @@
<arg
name="localization_sim_mode"
default="api"
description="Select localization mode. Options are 'none' or 'api'. 'api' starts an external API for initial position estimation. 'none' does not start any localization-related process."
description="Select localization mode. Options are 'none', 'api' or 'pose_twist_estimator'. 'pose_twist_estimator' starts most of the localization modules except for the ndt_scan_matcher. 'api' starts an external API for initial position estimation. 'none' does not start any localization-related process."
/>

<group scoped="false">
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