feat: update scenario format and enable/disable component

tier4 · Jul 24, 2024 · 4b07ff1 · 4b07ff1
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Showing 3 changed files with 4 additions and 17 deletions.
diff --git a/docs/use_case/planning_control.en.md b/docs/use_case/planning_control.en.md
@@ -44,15 +44,10 @@ Published topics:
 
 ## Arguments passed to logging_simulator.launch
 
-To make Autoware processing less resource-consuming, modules that are not relevant to evaluation are disabled by passing the `false` parameter as a launch argument.
-
 - localization: false
 
-### Arguments specified in the scenario or launch command
-
-- sensing: It can be disabled by specifying LaunchSensing: false in the scenario. Or specify sensing:=false in the launch command
-- perception: It can be disabled by specifying LaunchPerception: false in the scenario. Or specify perception:=false in the launch command
-- planning: It can be disabled by specifying LaunchPlanning: false in the scenario. Or specify planning:=false in the launch command
+To use /sensing/lidar/concatenated/pointcloud in the bag, add sensing:=false to the launch argument.
+If you want to use perception and planning from the bag as well, add “perception:=false planning:=false” to the “launch” argument.
 
 ```shell
 ros2 launch log_evaluator log_evaluator.launch.py scenario_path:=${planning_control_scenario_path} sensing:=false perception:=false planning:=false

diff --git a/docs/use_case/planning_control.ja.md b/docs/use_case/planning_control.ja.md
@@ -44,15 +44,10 @@ Published topics:
 
 ## logging_simulator.launch に渡す引数
 
-autoware の処理を軽くするため、評価に関係のないモジュールは launch の引数に false を渡すことで無効化する。以下を設定している。
-
 - localization: false
 
-### シナリオまたはlaunchコマンドで指定する引数
-
-- sensing: シナリオにLaunchSensing: falseを指定することで無効化できる。またはlaunchコマンドでsensing:=falseを指定する
-- perception: シナリオにLaunchPerception: falseを指定することで無効化できる。またはlaunchコマンドでperception:=falseを指定する
-- planning: シナリオにLaunchPlanning: falseを指定することで無効化できる。またはlaunchコマンドでplanning:=falseを指定する
+bagの中に入っている、/sensing/lidar/concatenated/pointcloudを利用する場合は、launchの引数にsensing:=falseを追加する
+perception、planningも同様にbagから出力する場合は、launchの引数にperception:=false planning:=falseを追加する
 
 ```shell
 ros2 launch log_evaluator log_evaluator.launch.py scenario_path:=${planning_control_scenario_path} sensing:=false perception:=false planning:=false

diff --git a/sample/planning_control/scenario.yaml b/sample/planning_control/scenario.yaml
@@ -9,9 +9,6 @@ Evaluation:
   Datasets:
     - odaiba:
         VehicleId: default
-        LaunchSensing: false # If false, the TOPIC of SENSING to be used in PERCEPTION must be in the BAG.
-        # LaunchPerception: false # If false, the TOPIC of PERCEPTION to be used in PLANNING / CONTROL must be in the BAG.
-        # LaunchPlanning: false # If false, the TOPIC of PLANNING to be used in CONTROL must be in the BAG.
   Conditions:
     ControlConditions:
       - module: "autonomous_emergency_braking: aeb_emergency_stop"