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...ace/src/aichallenge_submit/aichallenge_submit_launch/launch/original_launch_at.launch.xml
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
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| <group> | ||
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| <push-ros-namespace namespace="perception"/> | ||
| <!-- object_info_publisher--> | ||
| <node pkg="object_info_publisher" exec="object_info_publisher_node" name="object_info_publisher_node" output="screen"> | ||
| <param name="scale" value="0.8" /> | ||
| <param name="scale_of3" value="0.3" /> | ||
| <remap from="/perception/object_recognition/objects_filtered" to="/perception/object_recognition/objects_filtered"/> | ||
| </node> | ||
| <!-- object_info_publisher End--> | ||
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| <!-- object_event_handler--> | ||
| <node pkg="object_event_handler" exec="object_event_node" name="object_event_node" output="screen"> | ||
| <remap from="~/input/objects" to="/perception/object_recognition/objects_filtered" /> | ||
| <remap from="~/output/object_event" to="/perception/object_event" /> | ||
| </node> | ||
| <!-- object_event_handler End--> | ||
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| </group> | ||
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| <group> | ||
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| <push-ros-namespace namespace="planning"/> | ||
| <!-- costmap_gengerator --> | ||
| <arg name="vehicle_param_file" default="$(find-pkg-share racing_kart_description)/config/vehicle_info.param.yaml"/> | ||
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| <include file="$(find-pkg-share costmap_generator)/launch/costmap_generator.launch.xml"> | ||
| <arg name="input_objects" value="/perception/object_recognition/objects_filtered"/> | ||
| <arg name="input_points_no_ground" value="/perception/obstacle_segmentation/pointcloud"/> | ||
| <arg name="input_lanelet_map" value="/map/vector_map"/> | ||
| <arg name="input_scenario" value="/planning/scenario_planning/scenario"/> | ||
| <arg name="input_object_change" value="/perception/object_event"/> | ||
| <arg name="output_grid_map" value="costmap_generator/grid_map"/> | ||
| <arg name="output_occupancy_grid" value="costmap_generator/occupancy_grid"/> | ||
| <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/> | ||
| </include> | ||
| <!-- costmap_gengerator End --> | ||
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| <!-- freespace_planner --> | ||
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| <arg name="vehicle_param_file" default="$(find-pkg-share racing_kart_description)/config/vehicle_info.param.yaml"/> | ||
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| <include file="$(find-pkg-share freespace_planner)/launch/freespace_planner.launch.xml"> | ||
| <arg name="input_route" value="/planning/scenario_planning/route"/> | ||
| <arg name="input_occupancy_grid" value="costmap_generator/occupancy_grid"/> | ||
| <arg name="input_scenario" value="/planning/scenario_planning/scenario"/> | ||
| <arg name="input_odometry" value="/localization/kinematic_state"/> | ||
| <arg name="output_trajectory" value="/planning/scenario_planning/freespace_planner/trajectory"/> | ||
| <arg name="is_completed" value="/planning/scenario_planning/parking/is_completed"/> | ||
| <arg name="param_file" value="$(find-pkg-share aichallenge_submit_launch)/param/planning/freespace_planner/freespace_planner.param.yaml"/> | ||
| <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/> | ||
| </include> | ||
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| <!-- freespace_planner End --> | ||
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| <!-- trajectory_selector --> | ||
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| <node pkg="trajectory_selector" exec="trajectory_selector_node" name="trajectory_selector_node" output="screen"> | ||
| <remap from="/scenario" to="/planning/scenario_planning/scenario"/> | ||
| <remap from="/status" to="/aichallenge/awsim/status"/> | ||
| <remap from="/trajectory_pit" to="/planning/scenario_planning/trajectory"/> | ||
| <!-- <remap from="/trajectory_lane" to="/planning/scenario_planning/avoidance/trajectory"/> --> | ||
| <remap from="/trajectory_lane" to="planning/scenario_planning/astar/trajectory"/> | ||
| <remap from="/trajectory_avoidance" to="/planning/scenario_planning/avoidance/trajectory"/> | ||
| <remap from="/selected_trajectory" to="/planning/scenario_planning/selected_trajectory"/> | ||
| </node> | ||
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| <!-- trajectory_selector End --> | ||
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| <!-- route_publisher --> | ||
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| <node pkg="route_publisher" exec="route_publisher_node" name="route_publisher_node" output="screen"> | ||
| <remap from="~/input/object_event" to="/perception/object_event"/> | ||
| <remap from="~/output/route" to="/planning/scenario_planning/route"/> | ||
| <remap from="~/input/kinematics" to="/localization/kinematic_state"/> | ||
| <param from="$(find-pkg-share route_publisher)/config/route_pose.yaml" /> | ||
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| </node> | ||
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| <!-- route_publisher End --> | ||
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| <!-- trajectory_manager --> | ||
| <node pkg="trajectory_manager" exec="trajectory_manage_node" name="trajectory_manage_node" output="screen"> | ||
| <remap from="~/input/trajectory" to="/planning/scenario_planning/freespace_planner/trajectory"/> | ||
| <remap from="~/input/route" to="/planning/scenario_planning/route"/> | ||
| <remap from="~/output/trajectory" to="/planning/scenario_planning/astar/trajectory"/> | ||
| </node> | ||
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| <!-- trajectory_manager End --> | ||
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| </group> | ||
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| <group> | ||
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| <push-ros-namespace namespace="pit"/> | ||
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| <!-- Pit_Stop --> | ||
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| <node pkg="pit_stop_package" exec="pit_stop_node" name="pit_stop_node" output="screen"> | ||
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| <param name="target_x" value="89626.3671875" /> | ||
| <param name="target_y" value="43134.921875" /> | ||
| <param name="threshold_distance" value="0.8" /> | ||
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| <remap from="/scenario" to="/planning/pit_stop/scenario"/> | ||
| <remap from="~/input/pit_status" to="/aichallenge/pitstop/status"/> | ||
| <remap from="~/input/kinematics" to="/localization/kinematic_state"/> | ||
| <remap from="/gear_command" to="/control/command/gear_cmd"/> | ||
| </node> | ||
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| <!-- Pit_Stop End --> | ||
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| <!-- scenario_pub_pkg --> | ||
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| <node pkg="scenario_pub_pkg" exec="scenario_pub_node" name="scenario_pub_node" output="screen"> | ||
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| <param name="ConditionThreshold" value="1000" /> <!-- pit stopのフラグをたてるしきい値 --> | ||
| <param name="UseStatusCondition" value="false" /> <!-- sectionの値をpit stopフラグに利用するかどうか。true: secton 8 かつ condition>=1000のときpit--> | ||
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| <remap from="/condition" to="/aichallenge/pitstop/condition"/> | ||
| <remap from="/status" to="/aichallenge/awsim/status"/> | ||
| <remap from="/scenario" to="/planning/pit_stop/scenario"/> | ||
| </node> | ||
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| <!-- scenario_pub_pkg End --> | ||
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| </group> | ||
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| <!-- section_event_handler --> | ||
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| <ground> | ||
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| <push-ros-namespace namespace="planning"/> | ||
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| <node pkg="section_event_handler" exec="section_event_node" name="section_event_node" output="screen"> | ||
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| <remap from="~/input/status" to="/aichallenge/awsim/status"/> | ||
| <remap from="~/output/section_change" to="/planning/section_event"/> | ||
| </node> | ||
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| <!-- section_event_handler End --> | ||
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| <!-- static TF for costmap --> | ||
| <node pkg="tf2_ros" exec="static_transform_publisher" output="screen" | ||
| args="89633.15625 43127.80078125 42.195587158203125 0.004984998786902679 -0.010415014249405455 0.8738473964122314 0.4860631698131876 map static_base"/> | ||
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| <!-- static TF for costmap End --> | ||
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| </group> | ||
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| <!-- MPC PID Controller --> | ||
| <group> | ||
| <push-ros-namespace namespace="control"/> | ||
| <group> | ||
| <push-ros-namespace namespace="trajectory_follower"/> | ||
| <arg name="enable_obstacle_collision_checker" default="true"/> | ||
| <arg name="lateral_controller_mode" default="mpc"/> | ||
| <arg name="longitudinal_controller_mode" default="pid"/> | ||
| <arg name="enable_autonomous_emergency_braking" default="true"/> | ||
| <arg name="check_external_emergency_heartbeat" default="true"/> | ||
| <arg name="trajectory_follower_mode" default="trajectory_follower_node"/> | ||
| <arg name="nearest_search_param_path" default="$(find-pkg-share aichallenge_submit_launch)/param/common/nearest_search.param.yaml"/> | ||
| <arg name="trajectory_follower_node_param_path" default="$(find-pkg-share aichallenge_submit_launch)/param/control/trajectory_follower_node.param.yaml"/> | ||
| <arg name="lon_controller_param_path" default="$(find-pkg-share aichallenge_submit_launch)/param/control/mpc.param.yaml"/> | ||
| <arg name="lat_controller_param_path" default="$(find-pkg-share aichallenge_submit_launch)/param/control/pid.param.yaml"/> | ||
| <arg name="vehicle_param_file" default="$(find-pkg-share racing_kart_description)/config/vehicle_info.param.yaml"/> | ||
| <arg name="use_sim_time" default="false"/> | ||
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| <node pkg="trajectory_follower_node" exec="controller_node_exe" name="controller" output="screen"> | ||
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| <remap from="~/input/reference_trajectory" to="/planning/scenario_planning/selected_trajectory"/> | ||
| <remap from="~/input/current_odometry" to="/localization/kinematic_state"/> | ||
| <remap from="~/input/current_steering" to="/vehicle/status/steering_status"/> | ||
| <remap from="~/input/current_accel" to="/localization/acceleration"/> | ||
| <remap from="~/input/current_operation_mode" to="/system/operation_mode/state"/> | ||
| <remap from="~/output/predicted_trajectory" to="lateral/predicted_trajectory"/> | ||
| <remap from="~/output/lateral_diagnostic" to="lateral/diagnostic"/> | ||
| <remap from="~/output/slope_angle" to="longitudinal/slope_angle"/> | ||
| <remap from="~/output/longitudinal_diagnostic" to="longitudinal/diagnostic"/> | ||
| <remap from="~/output/stop_reason" to="longitudinal/stop_reason"/> | ||
| <remap from="~/output/control_cmd" to="/control/command/control_cmd"/> | ||
| <param name="lateral_controller_mode" value="$(var lateral_controller_mode)"/> | ||
| <param name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/> | ||
| <param from="$(var nearest_search_param_path)"/> | ||
| <param from="$(var trajectory_follower_node_param_path)"/> | ||
| <param from="$(var lon_controller_param_path)"/> | ||
| <param from="$(var lat_controller_param_path)"/> | ||
| <param from="$(var vehicle_param_file)"/> | ||
| </node> | ||
| </group> | ||
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| </group> | ||
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| <!--MPC PID Controller End --> | ||
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| </launch> |
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