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update localization launch #2131

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merged 8 commits into from
Aug 2, 2023
Merged

update localization launch #2131

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ce6104f
update localization launch
adev4a Aug 1, 2023
97a5702
fix
adev4a Aug 1, 2023
6a4043b
remove ros1 localization launch
adev4a Aug 1, 2023
abf233e
fix
adev4a Aug 1, 2023
e4532da
add ifcondition for ekf localizer launch
adev4a Aug 1, 2023
b2c1431
fix condition
adev4a Aug 1, 2023
6f9281d
fix
adev4a Aug 1, 2023
58eb6d2
Merge branch 'develop' into fix/ros2_localization_launch
MishkaMN Aug 2, 2023
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12 changes: 0 additions & 12 deletions carma/launch/carma_src.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -86,18 +86,6 @@
</include>
</group>

<!-- Localization Stack -->
<group ns="$(env CARMA_LOCZ_NS)">
<include file="$(find carma)/launch/localization.launch">
<arg name="arealist_path" value="$(arg arealist_path)"/>
<arg name="area" value="$(arg area)"/>
<arg name="load_type" value="$(arg load_type)"/>
<arg name="single_pcd_path" value="$(arg single_pcd_path)"/>
<arg name="vehicle_calibration_dir" value="$(arg vehicle_calibration_dir)"/>
<arg name="vector_map_file" value="$(arg vector_map_file)" />
<arg name="simulation_mode" value="$(arg simulation_mode)" />
</include>
</group>

<!-- Environment Perception Stack -->
<group ns="$(env CARMA_ENV_NS)">
Expand Down
7 changes: 6 additions & 1 deletion carma/launch/carma_src.launch.py
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Expand Up @@ -140,6 +140,9 @@ def generate_launch_description():
vector_map_file = LaunchConfiguration('vector_map_file')
declare_vector_map_file = DeclareLaunchArgument(name='vector_map_file', default_value='/opt/carma/maps/vector_map.osm')

simulation_mode = LaunchConfiguration('simulation_mode')
declare_simulation_mode = DeclareLaunchArgument(name='simulation_mode', default_value = 'False', description = 'True if CARMA Platform is launched with CARLA Simulator')

# Nodes

transform_group = GroupAction(
Expand Down Expand Up @@ -178,7 +181,8 @@ def generate_launch_description():
'area' : area,
'arealist_path' : arealist_path,
'vector_map_file' : vector_map_file,
'vehicle_calibration_dir': vehicle_calibration_dir
'vehicle_calibration_dir': vehicle_calibration_dir,
'simulation_mode': simulation_mode,
}.items()
)
]
Expand Down Expand Up @@ -271,6 +275,7 @@ def generate_launch_description():
declare_area,
declare_arealist_path,
declare_vector_map_file,
declare_simulation_mode,
drivers_group,
transform_group,
environment_group,
Expand Down
63 changes: 0 additions & 63 deletions carma/launch/localization.launch
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7 changes: 6 additions & 1 deletion carma/launch/localization.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,8 @@
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.actions import GroupAction
from launch_ros.actions import set_remap
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PythonExpression


def generate_launch_description():
Expand Down Expand Up @@ -77,6 +79,8 @@ def generate_launch_description():
vector_map_file = LaunchConfiguration('vector_map_file')
declare_map_file = DeclareLaunchArgument(name='vector_map_file', default_value='vector_map.osm', description='Path to the map osm file if using the noupdate load type')

simulation_mode = LaunchConfiguration('simulation_mode')

gnss_to_map_convertor_container = ComposableNodeContainer(
package='carma_ros2_utils',
name='gnss_to_map_convertor_container',
Expand Down Expand Up @@ -235,6 +239,7 @@ def generate_launch_description():
# EKF Localizer
# Comment out to remove and change marked line in waypoint following.launch
ekf_localizer_container = ComposableNodeContainer(
condition=IfCondition(PythonExpression(['not ', simulation_mode])),
package='carma_ros2_utils',
name='ekf_localizer_container',
namespace=GetCurrentNamespace(),
Expand Down Expand Up @@ -373,4 +378,4 @@ def generate_launch_description():
ndt_matching_container,
ekf_localizer_container,
subsystem_controller
])
])