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feat(map): add launch_pointcloud_map_loader #846

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feat(map): add launch_pointcloud_map_loader #846

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5 changes: 4 additions & 1 deletion autoware_launch/launch/autoware.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@
<!-- Map -->
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
<arg name="launch_pointcloud_map_loader" default="true" description="launch pointcloud map loader"/>
<!-- System -->
<arg name="system_run_mode" default="online" description="run mode in system"/>
<arg name="launch_system_monitor" default="true" description="launch system monitor"/>
Expand Down Expand Up @@ -82,7 +83,9 @@

<!-- Map -->
<group if="$(var launch_map)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml"/>
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml">
<arg name="launch_pointcloud_map_loader" value="$(var launch_pointcloud_map_loader)"/>
</include>
</group>

<!-- Sensing -->
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2 changes: 2 additions & 0 deletions autoware_launch/launch/components/tier4_map_component.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,5 +9,7 @@
<arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
<arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>
<arg name="map_projection_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/map_projection_loader.param.yaml"/>

<arg name="launch_pointcloud_map_loader" value="$(var launch_pointcloud_map_loader)"/>
</include>
</launch>
2 changes: 2 additions & 0 deletions autoware_launch/launch/planning_simulator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
<!-- Map -->
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
<arg name="launch_pointcloud_map_loader" default="true" description="launch pointcloud map loader"/>
<!-- System -->
<arg name="launch_system_monitor" default="false" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
Expand Down Expand Up @@ -61,6 +62,7 @@
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
<arg name="launch_pointcloud_map_loader" value="$(var launch_pointcloud_map_loader)"/>
<!-- Tools -->
<arg name="rviz" value="$(var rviz)"/>
<arg name="rviz_config" value="$(var rviz_config)"/>
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