feat: ndt convergence

driving_log_replayer_v2/driving_log_replayer_v2/launch/ndt_convergence.py

@@ -0,0 +1,34 @@
+# 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
+
+RECORD_TOPIC = """^/localization/util/downsample/pointcloud$\
+|^/localization/pose_twist_fusion_filter/biased_pose_with_covariance$\
+"""
+
+AUTOWARE_DISABLE = {
+    "perception": "false",
+    "planning": "false",
+    "control": "false",
+}
+
+AUTOWARE_ARGS = {
+    "pose_source": "ndt",
+    "twist_source": "gyro_odom",
+}
+
+NODE_PARAMS = {}
+
+USE_CASE_ARGS: list[DeclareLaunchArgument] = []

driving_log_replayer_v2/launch/driving_log_replayer_v2.launch.py

@@ -204,7 +204,7 @@ def extract_remap_topics(profile_name: str) -> list[str]:
         return remap_dict.get("remap")
 
 
-def ensure_arg_compatibility(context: LaunchContext) -> list:
+def ensure_arg_compatibility(context: LaunchContext) -> list:  # noqa
     conf = context.launch_configurations
 
     # check conf
@@ -265,6 +265,9 @@ def ensure_arg_compatibility(context: LaunchContext) -> list:
     conf["result_archive_path"] = output_dir.joinpath("result_archive").as_posix()
     conf["use_case"] = yaml_obj["Evaluation"]["UseCaseName"]
 
+    if conf["use_case"] == "ndt_convergence":
+        conf["record_only"] = "true"
+
     return [
         LogInfo(
             msg=f"{t4_dataset_path=}, {dataset_index=}, {output_dir=}, use_case={conf['use_case']}",
@@ -333,7 +336,7 @@ def launch_evaluator_node(context: LaunchContext) -> list:
     if conf["record_only"] != "false":
         # output dummy result for Evaluator
         output_dummy_result_jsonl(conf["result_json_path"])
-        return [LogInfo(msg="evaluator_node is not launched because record_only is set")]
+        return [LogInfo(msg="evaluator_node is not launched due to record only mode")]
     params = {
         "use_sim_time": True,
         "scenario_path": conf["scenario_path"],