feat: add argument t4_dataset_path for compatibility with v1

[hayato-m126]

Types of PR

• New Features

Description

• add argument t4_dataset_path

How to review this PR

Others

# dataset_dir default 
❯ ros2 launch driving_log_replayer_v2 driving_log_replayer_v2.launch.py scenario_path:=$HOME/dlr2_data/localization/scenario.yaml
[INFO] [launch]: All log files can be found below /home/hyt/.ros/log/2024-09-06-15-30-50-464432-dpc2405001-1290894
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: t4_dataset_path=PosixPath('/home/hyt/dlr2_data/localization/bag_only_dataset'), dataset_index=0, output_dir=PosixPath('/home/hyt/dlr2_data/localization/out/2024-0906-153050'), use_case=localization
[INFO] [launch.user]: check_launch_component(conf)={'sensing': 'true', 'localization': 'true', 'perception': 'false', 'planning': 'false', 'control': 'false'}
[INFO] [launch.user]: conf.get('initial_pose')='{"position": {"x": 3839.340576171875, "y": 73731.3359375, "z": 19.639482498168945}, "orientation": {"x": -0.023971009814459248, "y": 0.005891999600528019, "z": -0.9709848597542231, "w": 0.237863568369043}}', conf.get('direct_initial_pose')=None
[INFO] [launch.user]: conf.get('goal_pose')=None

# set t4_dataset_path
❯ ros2 launch driving_log_replayer_v2 driving_log_replayer_v2.launch.py scenario_path:=$HOME/dlr2_data/localization/scenario.yaml t4_dataset_path:=/home/hyt/dlr2_data/localization/bag_only_dataset
[INFO] [launch]: All log files can be found below /home/hyt/.ros/log/2024-09-06-15-40-08-301723-dpc2405001-1292969
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: t4_dataset_path=PosixPath('/home/hyt/dlr2_data/localization/bag_only_dataset'), dataset_index=0, output_dir=PosixPath('/home/hyt/dlr2_data/localization/out/2024-0906-154008'), use_case=localization
[INFO] [launch.user]: check_launch_component(conf)={'sensing': 'true', 'localization': 'true', 'perception': 'false', 'planning': 'false', 'control': 'false'}
[INFO] [launch.user]: conf.get('initial_pose')='{"position": {"x": 3839.340576171875, "y": 73731.3359375, "z": 19.639482498168945}, "orientation": {"x": -0.023971009814459248, "y": 0.005891999600528019, "z": -0.9709848597542231, "w": 0.237863568369043}}', conf.get('direct_initial_pose')=None
[INFO] [launch.user]: conf.get('goal_pose')=None

# set t4_dataset_path with version
❯ ros2 launch driving_log_replayer_v2 driving_log_replayer_v2.launch.py scenario_path:=$HOME/dlr2_data/localization/scenario_with_version.yaml t4_dataset_path:=/home/hyt/dlr2_data/localization/bag_only_dataset_with_version/0
[INFO] [launch]: All log files can be found below /home/hyt/.ros/log/2024-09-06-15-46-37-637509-dpc2405001-1295145
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: t4_dataset_path=PosixPath('/home/hyt/dlr2_data/localization/bag_only_dataset_with_version/0'), dataset_index=0, output_dir=PosixPath('/home/hyt/dlr2_data/localization/out/2024-0906-154637'), use_case=localization
[INFO] [launch.user]: check_launch_component(conf)={'sensing': 'true', 'localization': 'true', 'perception': 'false', 'planning': 'false', 'control': 'false'}
[INFO] [launch.user]: conf.get('initial_pose')='{"position": {"x": 3839.340576171875, "y": 73731.3359375, "z": 19.639482498168945}, "orientation": {"x": -0.023971009814459248, "y": 0.005891999600528019, "z": -0.9709848597542231, "w": 0.237863568369043}}', conf.get('direct_initial_pose')=None
[INFO] [launch.user]: conf.get('goal_pose')=None