feat: ndt convergence (#103)

* feat: switch launch Signed-off-by: Hayato Mizushima <[email protected]> * fix: LogInfo Signed-off-by: Hayato Mizushima <[email protected]> --------- Signed-off-by: Hayato Mizushima <[email protected]>
tier4 · Feb 26, 2025 · dba8669 · dba8669
1 parent 4787389
commit dba8669
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Showing 2 changed files with 53 additions and 9 deletions.
diff --git a/driving_log_replayer_v2/driving_log_replayer_v2/launch/ndt_convergence.py b/driving_log_replayer_v2/driving_log_replayer_v2/launch/ndt_convergence.py
@@ -0,0 +1,27 @@
+# Copyright (c) 2025 TIER IV.inc
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch.actions import DeclareLaunchArgument
+
+# This file is a dummy file prepared for compatibility with the existing system.
+
+RECORD_TOPIC = ""
+
+AUTOWARE_DISABLE = {}
+
+AUTOWARE_ARGS = {}
+
+NODE_PARAMS = {}
+
+USE_CASE_ARGS: list[DeclareLaunchArgument] = []
diff --git a/driving_log_replayer_v2/launch/driving_log_replayer_v2.launch.py b/driving_log_replayer_v2/launch/driving_log_replayer_v2.launch.py
@@ -199,20 +199,37 @@ def launch_goal_pose_node(context: LaunchContext) -> list:
     ]
 
 
+def select_launch(context: LaunchContext) -> list:
+    conf = context.launch_configurations
+    if conf["use_case"] == "ndt_convergence":
+        return launch_ndt_convergence()
+    return launch_use_case()
+
+
+def launch_ndt_convergence() -> list:
+    return [LogInfo(msg="ndt_convergence")]
+
+
+def launch_use_case() -> list:
+    return [
+        OpaqueFunction(function=add_use_case_arguments),  # after ensure_arg_compatibility
+        OpaqueFunction(function=launch_autoware),
+        OpaqueFunction(function=launch_map_height_fitter),
+        OpaqueFunction(function=launch_evaluator_node),
+        OpaqueFunction(function=launch_bag_player),
+        OpaqueFunction(function=launch_bag_recorder),
+        OpaqueFunction(function=launch_topic_state_monitor),
+        OpaqueFunction(function=launch_initial_pose_node),
+        OpaqueFunction(function=launch_goal_pose_node),
+    ]
+
+
 def generate_launch_description() -> LaunchDescription:
     launch_arguments = get_launch_arguments()
     return LaunchDescription(
         [
             *launch_arguments,
             OpaqueFunction(function=ensure_arg_compatibility),
-            OpaqueFunction(function=add_use_case_arguments),  # after ensure_arg_compatibility
-            OpaqueFunction(function=launch_autoware),
-            OpaqueFunction(function=launch_map_height_fitter),
-            OpaqueFunction(function=launch_evaluator_node),
-            OpaqueFunction(function=launch_bag_player),
-            OpaqueFunction(function=launch_bag_recorder),
-            OpaqueFunction(function=launch_topic_state_monitor),
-            OpaqueFunction(function=launch_initial_pose_node),
-            OpaqueFunction(function=launch_goal_pose_node),
+            OpaqueFunction(function=select_launch),
         ],
     )