feat(tier4_simulator_launch): add use_baselink_z option for dummy_per…

…ception_publisher (#304)

Signed-off-by: Berkay Karaman <[email protected]>

autoware_launch/launch/components/tier4_simulator_component.launch.xml

@@ -6,6 +6,7 @@
   <arg name="launch_diagnostic_converter"/>
   <arg name="perception/enable_detection_failure"/>
   <arg name="perception/enable_object_recognition"/>
+  <arg name="perception/use_base_link_z"/>
   <arg name="sensing/visible_range"/>
   <arg name="vehicle_model"/>
   <arg name="initial_engage_state"/>
@@ -18,6 +19,7 @@
     <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
     <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
     <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
+    <arg name="perception/use_base_link_z" value="$(var perception/use_base_link_z)"/>
     <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
     <arg name="initial_engage_state" value="$(var initial_engage_state)"/>

autoware_launch/launch/planning_simulator.launch.xml

@@ -19,6 +19,7 @@
   <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="perception/use_base_link_z" default="true" description="dummy perception uses base_link z axis coordinate if it is true"/>
   <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"/>
   <!-- Vcu emulation -->
@@ -71,6 +72,7 @@
       <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
       <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
       <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
+      <arg name="perception/use_base_link_z" value="$(var perception/use_base_link_z)"/>
       <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="initial_engage_state" value="$(var initial_engage_state)"/>