feat: add integration_launch package (autowarefoundation#172)

* add integration launch (autowarefoundation#55)

* Feature/add ci launch (autowarefoundation#60)

* add integration launch

* feat: add integration launch for PSim CI

* feat: update for planning_simulator_launcher/scenario_launcher.launch

Co-authored-by: hiroyuki.obinata <hiroyuki.obinata@tier4.jp>

* Add sensor_model and vehicle_model

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* removed ROS1 package

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Revert "removed ROS1 package"

This reverts commit 7b71f0d645b8c5286944f60db7cd9d4a434c6e24.

* add COLCON_IGNORE file to all ROS1 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* rename *.launch files to *.launch.xml

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* fix ci (autowarefoundation#180)

* fix ci

* add space

* fix format

* Format launch files (autowarefoundation#228)

* Format launch files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Format launch.py

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix lint

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fixup for autowarefoundation#217 (autowarefoundation#254)

* Fixup for autowarefoundation#217

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix typo

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* add description for integration_launch (autowarefoundation#331)

* add description

* fix sentence

* add README.md and svg files (autowarefoundation#328)

* add md and svg

* fix typo

* fix typo

* fix word

* fix typo

* add lack of things

* Update README

* fix depending packages

* fix word

* Fix pre-commit (autowarefoundation#407)

* Fix pre-commit errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix package.xml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Change formatter to black (autowarefoundation#488)

* Update pre-commit settings

* Apply Black

* Replace ament_lint_common with autoware_lint_common

* Update build_depends.repos

* Fix build_depends

* remove scenario_runner

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Co-authored-by: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com>
Co-authored-by: Makoto Tokunaga <vios-fish@users.noreply.github.com>
Co-authored-by: hiroyuki.obinata <hiroyuki.obinata@tier4.jp>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>

launch/integration_launch/CMakeLists.txt

@@ -0,0 +1,16 @@
+
+cmake_minimum_required(VERSION 3.5)
+project(integration_launch)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+)

launch/integration_launch/README.md

@@ -0,0 +1,13 @@
+# integration_launch
+
+## Structure
+
+![integration_launch](./integration_launch.drawio.svg)
+
+## Package Dependencies
+
+- autoware_launch
+
+## Notes
+
+This package is only used for continuous integration.

launch/integration_launch/launch/ci_planning_simulator.launch.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- TODO: add the appropriate vehicle and sensor model below. -->
+  <arg name="vehicle_model" default="" description="vehicle model name"/>
+  <arg name="sensor_model" default="" description="sensor model name"/>
+  <arg name="map_path" default="" description="path to the directory of point cloud and lanelet2 map"/>
+  <arg name="rviz" default="false" description="launch rviz"/>
+
+  <!-- autoware -->
+  <include file="$(find-pkg-share autoware_launch)/launch/planning_simulator.launch.xml">
+    <arg name="vehicle_model" value="$(var vehicle_model)" />
+    <arg name="sensor_model" value="$(var sensor_model)" />
+    <arg name="map_path" value="$(var map_path)"/>
+    <arg name="rviz" value="$(var rviz)" />
+    <arg name="initial_engage_state" value="false" />
+    <arg name="perception/enable_detection_failure" value="false" />
+    <arg name="sensing/visible_range" value="1000.0" />
+  </include>
+
+  <!-- ci  -->
+  <!-- TODO  -->
+
+</launch>

launch/integration_launch/launch/release.launch.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- TODO: add the appropriate vehicle and sensor model below. -->
+  <arg name="vehicle_model" default="" description="vehicle model name"/>
+  <arg name="sensor_model" default="" description="sensor model name"/>
+  <arg name="map_path" default="/opt/autoware/maps/" description="path to the directory of point cloud and lanelet2 map"/>
+  <arg name="lanelet_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
+  <arg name="pointcloud_map_file" default="pointcloud_map_file" description="pointcloud map file name"/>
+  <arg name="rviz" default="false" description="launch rviz"/>
+
+  <include file="$(find autoware_launch)/launch/autoware.launch.xml">
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+    <arg name="map_path" value="$(var map_path)"/>
+    <arg name="lanelet2_map_file" value="$(var lanelet_map_file)"/>
+    <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
+    <arg name="rviz" value="$(var rviz)"/>
+  </include>
+</launch>