From 5e313c3e069f9ab4a0d2233ffa337026f94810e9 Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Wed, 26 Feb 2025 17:50:32 +0900 Subject: [PATCH 1/2] feat: switch launch Signed-off-by: Hayato Mizushima --- .../launch/driving_log_replayer_v2.launch.py | 35 ++++++++++++++----- 1 file changed, 26 insertions(+), 9 deletions(-) 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 index e0cda065..da062f0c 100644 --- 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("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), ], ) From 58bf7fe85d87a15843eb2ecf10ae4ccd23cfaf84 Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Wed, 26 Feb 2025 18:04:34 +0900 Subject: [PATCH 2/2] fix: LogInfo Signed-off-by: Hayato Mizushima --- .../launch/ndt_convergence.py | 27 +++++++++++++++++++ .../launch/driving_log_replayer_v2.launch.py | 2 +- 2 files changed, 28 insertions(+), 1 deletion(-) create mode 100644 driving_log_replayer_v2/driving_log_replayer_v2/launch/ndt_convergence.py 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 new file mode 100644 index 00000000..346c5964 --- /dev/null +++ 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 index da062f0c..e21dff96 100644 --- a/driving_log_replayer_v2/launch/driving_log_replayer_v2.launch.py +++ b/driving_log_replayer_v2/launch/driving_log_replayer_v2.launch.py @@ -207,7 +207,7 @@ def select_launch(context: LaunchContext) -> list: def launch_ndt_convergence() -> list: - return [LogInfo("ndt_convergence")] + return [LogInfo(msg="ndt_convergence")] def launch_use_case() -> list: