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fix: config for awsim #289

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merged 6 commits into from
Aug 29, 2024
Merged

fix: config for awsim #289

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0471306
delete unnecessary arg passing
Autumn60 Aug 28, 2024
828cd11
fix gnss_poser param
Autumn60 Aug 28, 2024
d4375d1
Adjust gnss launching condition
Autumn60 Aug 28, 2024
e6e4cff
fix invalid tag usage
Autumn60 Aug 28, 2024
1beb5a0
Merge branch 'add-XT32-model_sync_main' into feat/x1/awsim_config
Autumn60 Aug 28, 2024
fc4ede7
ci(pre-commit): autofix
pre-commit-ci[bot] Aug 28, 2024
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8 changes: 8 additions & 0 deletions aip_x1_launch/config/gnss_poser.param.yaml
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@@ -0,0 +1,8 @@
/**:
ros__parameters:
base_frame: base_link
gnss_base_frame: gnss_link
map_frame: map
buff_epoch: 1
use_gnss_ins_orientation: false
gnss_pose_pub_method: 0 # 0: Median, 1: Average
12 changes: 5 additions & 7 deletions aip_x1_launch/launch/gnss.launch.xml
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@@ -1,10 +1,9 @@
<launch>

<arg name="use_gnss" default="false" />
<arg name="launch_driver" default="true" />

<group if="$(var use_gnss)">
<push-ros-namespace namespace="gnss"/>
<group>
<push-ros-namespace namespace="gnss" />

<!-- Ublox Driver -->
<node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)" respawn="true" respawn_delay="1.0">
Expand All @@ -14,14 +13,13 @@

<!-- NavSatFix to MGRS Pose -->
<include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
<arg name="param_file" value="$(find-pkg-share aip_x1_launch)/config/gnss_poser.param.yaml" />
<arg name="input_topic_fix" value="ublox/nav_sat_fix" />
<arg name="input_topic_navpvt" value="ublox/navpvt" />

<!-- Required if use_gnss_ins_orientation in gnss_poser.param.yaml is true -->
<!-- <arg name="input_topic_orientation" value="" /> -->
<arg name="output_topic_gnss_pose" value="pose" />
<arg name="output_topic_gnss_pose_cov" value="pose_with_covariance" />
<arg name="output_topic_gnss_fixed" value="fixed" />

<arg name="use_ublox_receiver" value="true" />
</include>

</group>
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3 changes: 1 addition & 2 deletions aip_x1_launch/launch/sensing.launch.xml
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Expand Up @@ -12,7 +12,6 @@
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_awsim" value="$(var use_awsim)"/>
</include>

<!-- IMU Driver -->
Expand All @@ -21,7 +20,7 @@
</include>

<!-- GNSS Driver -->
<include file="$(find-pkg-share aip_x1_launch)/launch/gnss.launch.xml" unless="$(var use_awsim)">
<include file="$(find-pkg-share aip_x1_launch)/launch/gnss.launch.xml" if="$(var use_awsim)" >
<arg name="launch_driver" value="$(var launch_driver)" />
</include>

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6 changes: 3 additions & 3 deletions aip_x1_launch/package.xml
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Expand Up @@ -10,14 +10,14 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>autoware_compare_map_segmentation</exec_depend>
<exec_depend>autoware_elevation_map_loader</exec_depend>
<exec_depend>autoware_ground_segmentation</exec_depend>
<exec_depend>imu_corrector</exec_depend>
<exec_depend>individual_params</exec_depend>
<exec_depend>autoware_occupancy_grid_map_outlier_filter</exec_depend>
<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>imu_corrector</exec_depend>
<exec_depend>individual_params</exec_depend>
<exec_depend>rclcpp_components</exec_depend>
<exec_depend>ros2_socketcan</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
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2 changes: 1 addition & 1 deletion aip_x2_launch/package.xml
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Expand Up @@ -10,11 +10,11 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>dummy_diag_publisher</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>imu_corrector</exec_depend>
<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>septentrio_gnss_driver</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
<exec_depend>topic_tools</exec_depend>
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2 changes: 1 addition & 1 deletion aip_xx1_gen2_launch/package.xml
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Expand Up @@ -10,12 +10,12 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>glog_component</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>imu_corrector</exec_depend>
<exec_depend>pacmod3</exec_depend>
<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>ros2_socketcan</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
<exec_depend>topic_tools</exec_depend>
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2 changes: 1 addition & 1 deletion aip_xx1_launch/package.xml
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Expand Up @@ -10,12 +10,12 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>glog_component</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>imu_corrector</exec_depend>
<exec_depend>pacmod3</exec_depend>
<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>ros2_socketcan</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
<exec_depend>topic_tools</exec_depend>
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4 changes: 2 additions & 2 deletions common_sensor_launch/package.xml
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Expand Up @@ -10,10 +10,10 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>dummy_diag_publisher</exec_depend>
<exec_depend>nebula_sensor_driver</exec_depend>
<exec_depend>autoware_radar_tracks_msgs_converter</exec_depend>
<exec_depend>autoware_radar_tracks_noise_filter</exec_depend>
<exec_depend>dummy_diag_publisher</exec_depend>
<exec_depend>nebula_sensor_driver</exec_depend>
<exec_depend>velodyne_monitor</exec_depend>

<test_depend>ament_lint_auto</test_depend>
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