release v0.4.0

.github/PULL_REQUEST_TEMPLATE.md

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+## PRの種類
+
+- [ ] 新機能
+- [ ] 既存機能の性能向上
+- [ ] バグフィックス
+
+## Jiraリンク
+
+## 変更概要
+
+## レビュー方法
+
+## その他
+
+- [ ] [リリースノート](https://tier4.atlassian.net/wiki/spaces/AIP/pages/563774416)への記載

README.md

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+# autoware_launcher
+launch files for autoware

autoware_launch/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(autoware_launch)
+
+find_package(catkin REQUIRED COMPONENTS
+  vehicle_launch
+  perception_launch
+  sensing_launch
+)
+
+catkin_package()
+
+install(
+  DIRECTORY
+    launch
+    rviz
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

autoware_launch/launch/autoware.launch

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+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <arg name="map_path" doc="point cloud and lanelet2 map directory path"/>
+  <arg name="vehicle_model"/>
+  <arg name="sensor_model"/>
+  <!-- Optional parameters -->
+  <arg name="rosbag" default="false" doc="use rosbag data"/>
+  <arg name="rviz" default="true" doc="launch rviz"/>
+
+  <param name="/use_sim_time" value="$(arg rosbag)" />
+
+  <!-- Vehicle -->
+  <include file="$(find vehicle_launch)/launch/vehicle.launch">
+    <arg name="vehicle_model" value="$(arg vehicle_model)"/>
+    <arg name="sensor_model" value="$(arg sensor_model)"/>
+  </include>
+
+  <!-- System -->
+  <include file="$(find system_launch)/launch/system.launch">
+    <arg name="run_mode" value="online"/>
+  </include>
+
+  <!-- Map -->
+  <include file="$(find map_launch)/launch/map.launch">
+    <arg name="map_path" value="$(arg map_path)"/>
+  </include>
+
+  <!-- Sensing -->
+  <include file="$(find sensing_launch)/launch/sensing.launch">
+    <arg name="launch_driver" value="true" unless="$(arg rosbag)"/>
+    <arg name="launch_driver" value="false" if="$(arg rosbag)"/>
+    <arg name="sensor_model" value="$(arg sensor_model)"/>
+  </include>
+
+  <!-- Localization -->
+  <include file="$(find localization_launch)/launch/localization.launch">
+  </include>
+
+  <!-- Perception -->
+  <include file="$(find perception_launch)/launch/perception.launch">
+    <arg name="mode" value="lidar" doc="options: camera_lidar_fusion, lidar, camera"/>
+  </include>
+
+  <!-- Planning -->
+  <include file="$(find planning_launch)/launch/planning.launch" />
+
+  <!-- Control -->
+  <include file="$(find control_launch)/launch/control.launch">
+    <arg name="lateral_controller_mode" value="mpc_follower" doc="options: mpc_follower, pure_pursuit"/>
+  </include>
+
+  <!-- Rviz -->
+  <node pkg="rviz" type="rviz" name="rviz" output="screen" args="-d $(find autoware_launch)/rviz/autoware.rviz" if="$(arg rviz)" />
+
+  <!-- Web Controller -->
+  <include file="$(find roswww)/launch/roswww.launch">
+    <arg name="cached" value="false"/>
+  </include>
+  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
+</launch>

autoware_launch/launch/planning_simulator.launch

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+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <arg name="map_path" doc="point cloud and lanelet2 map directory path"/>
+  <arg name="vehicle_model"/>
+  <arg name="sensor_model"/>
+  <!-- Optional parameters -->
+  <arg name="rviz" default="true" doc="launch rviz"/>
+
+  <!-- Vehicle -->
+  <include file="$(find vehicle_launch)/launch/vehicle.launch">
+    <arg name="vehicle_model" value="$(arg vehicle_model)"/>
+    <arg name="sensor_model" value="$(arg sensor_model)"/>
+    <arg name="simulation" value="true"/>
+  </include>
+
+  <!-- System -->
+  <include file="$(find system_launch)/launch/system.launch">
+    <arg name="run_mode" value="planning_simulation"/>
+  </include>
+
+  <!-- Map -->
+  <include file="$(find map_launch)/launch/map.launch">
+    <arg name="map_path" value="$(arg map_path)"/>
+  </include>
+
+  <!-- Dummy Perception -->
+  <include file="$(find dummy_perception_publisher)/launch/dummy_perception_publisher.launch" />
+
+  <!-- Planning -->
+  <include file="$(find planning_launch)/launch/planning.launch" />
+
+  <!-- Control -->
+  <include file="$(find control_launch)/launch/control.launch">
+    <arg name="lateral_controller_mode" value="mpc_follower" doc="options: mpc_follower, pure_pursuit"/>
+  </include>
+
+  <!-- Rviz -->
+  <node pkg="rviz" type="rviz" name="rviz" output="screen" args="-d $(find autoware_launch)/rviz/autoware.rviz" if="$(arg rviz)" />
+
+  <!-- Web Controller -->
+  <include file="$(find roswww)/launch/roswww.launch">
+    <arg name="cached" value="false"/>
+  </include>
+  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
+</launch>

autoware_launch/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>autoware_launch</name>
+  <version>0.1.0</version>
+  <description>The autoware_launch package</description>
+
+  <maintainer email="[email protected]">Yukihiro Saito</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>vehicle_launch</build_depend>
+  <build_depend>perception_launch</build_depend>
+  <build_depend>sensing_launch</build_depend>
+  <exec_depend>vehicle_launch</exec_depend>
+  <exec_depend>perception_launch</exec_depend>
+  <exec_depend>sensing_launch</exec_depend>
+
+  <exec_depend>rosbridge_server</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-tornado</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-tornado</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-bson</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-bson</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>