tier4_simulated_clock_rviz_plugin does not work with planning_simulator.launch.xml

[VRichardJP]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

It seems Rviz is not configured properly when planning_simulator.launch.xml is used (it's maybe the same for the logging_simulator.launch.xml too):

As you can see, in Rviz "ROS time" is actually wall time.
One consequence is that the SimulatedClockPanel does not work.

A simple workaround is to start rviz in a separate terminal like this:

$ ros2 run rviz2 rviz2 -d src/launcher/autoware_launch/autoware_launch/rviz/autoware.rviz  --ros-args -p use_sim_time:=true

Then the SimulatedClockPanel works just fine.

I am wondering what is the proper fix though. I thought the global_params.launch.py should set the parameter for every Ros2 node, but apparently it is not the case.

Expected behavior

Rviz is started with simulated clock

Actual behavior

not the case

Steps to reproduce

run the planning simulator

Versions

No response

Possible causes

No response

Additional context

No response

[maxime-clem]

When launching with the following command, the use_sim_time should be applied to all nodes (including rviz).

ros2 launch autoware_launch planning_simulator.launch.xml map_path:="$MAP" vehicle_model:="$VEHICLE" sensor_model:="$SENSOR" use_sim_time:=true

This is how I launch autoware when I want to use the simulated clock.

[VRichardJP]

Oh sorry, I was using planning_simulator.launch.xml while reading the code of logging_simulator.launch.xml ^^
The use_sim_time works indeed!