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autoware.launch.xml
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- Essential parameters -->
<arg name="map_path" description="point cloud and lanelet2 map directory path"/>
<arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
<arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
<!-- launch module preset -->
<arg name="planning_module_preset" default="default" description="planning module preset"/>
<arg name="control_module_preset" default="default" description="control module preset"/>
<!-- Optional parameters -->
<!-- Modules to be launched -->
<arg name="launch_vehicle" default="true" description="launch vehicle"/>
<arg name="launch_system" default="true" description="launch system"/>
<arg name="launch_map" default="true" description="launch map"/>
<arg name="launch_sensing" default="true" description="launch sensing"/>
<arg name="launch_sensing_driver" default="true" description="launch sensing driver"/>
<arg name="launch_localization" default="true" description="launch localization"/>
<arg name="launch_perception" default="true" description="launch perception"/>
<arg name="launch_planning" default="true" description="launch planning"/>
<arg name="launch_control" default="true" description="launch control"/>
<arg name="launch_api" default="true" description="launch api"/>
<!-- Global parameters -->
<arg name="use_sim_time" default="false" description="use_sim_time"/>
<!-- Vehicle -->
<arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
<arg name="launch_vehicle_interface" default="true" description="launch vehicle interface"/>
<!-- Control -->
<arg name="check_external_emergency_heartbeat" default="false"/>
<!-- 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"/>
<!-- System -->
<arg name="system_run_mode" default="online" description="run mode in system"/>
<arg name="launch_system_monitor" default="true" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
<arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
<!-- Tools -->
<arg name="rviz" default="true" description="launch rviz"/>
<arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
<arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)" description="rviz config path"/>
<arg name="rviz_respawn" default="true"/>
<!-- Perception -->
<arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
<arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
<!-- Auto mode setting-->
<arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
<arg name="is_simulation" default="false" description="Autoware's behavior will change depending on whether this is a simulation or not."/>
<!-- Global parameters -->
<group scoped="false">
<include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="vehicle_model" value="$(var vehicle_model)"/>
</include>
</group>
<!-- Pointcloud container -->
<include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py">
<arg name="use_multithread" value="true"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
<!-- Vehicle -->
<group if="$(var launch_vehicle)">
<include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
<arg name="vehicle_model" value="$(var vehicle_model)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="vehicle_id" value="$(var vehicle_id)"/>
<arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
<arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
<arg name="raw_vehicle_cmd_converter_param_path" value="$(find-pkg-share autoware_launch)/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml"/>
</include>
</group>
<!-- System -->
<group if="$(var launch_system)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_system_component.launch.xml"/>
</group>
<!-- Map -->
<group if="$(var launch_map)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_map_component.launch.xml"/>
</group>
<!-- Sensing -->
<group if="$(var launch_sensing)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_sensing_component.launch.xml"/>
</group>
<!-- Localization -->
<group if="$(var launch_localization)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_localization_component.launch.xml"/>
</group>
<!-- Perception -->
<group if="$(var launch_perception)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
<arg name="data_path" value="$(var data_path)"/>
</include>
</group>
<!-- Planning -->
<group if="$(var launch_planning)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
<arg name="module_preset" value="$(var planning_module_preset)"/>
<arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
<arg name="is_simulation" value="$(var is_simulation)"/>
</include>
</group>
<!-- Control -->
<group if="$(var launch_control)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml">
<arg name="module_preset" value="$(var control_module_preset)"/>
</include>
</group>
<!-- API -->
<group if="$(var launch_api)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_autoware_api_component.launch.xml"/>
</group>
<!-- Tools -->
<group>
<node
pkg="rviz2"
exec="rviz2"
name="rviz2"
output="screen"
args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
if="$(var rviz)"
respawn="$(var rviz_respawn)"
>
<env name="QT_QPA_PLATFORMTHEME" value="qt5ct"/>
</node>
</group>
</launch>