chore: source build merge main (#88)

* chore: decrease pose_smoothing_step 5->1 (#59) (#60) * feat: add sensorkit swtching (#57) * feat: add sensor kit change for simulation * chore: add ignore and pre-commit fix * chore: aichallenge/workspace/.gitignore Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * fix: add simulation arg --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * chore: disable localhost only (#86) * feat: set same launch as source build (#82) * feat: add tunable param * feat: set same launch as source build * fix: modify sensor configuration (#50) Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * feat: add steer tire angle gain (#67) * feat: add steering tire angle gain Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * fix: modify steering_tire_angle_gain according to rosbag Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> --------- Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * feat: draft accel brake map (#70) * chore: remove unused param * feat:draft accel brake map * fix: modify angular velocity offset (#69) * fix: modify angular velocity offset Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * modify Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> --------- Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * feat: add raw publisher (#71) * fix: source build build fix control point size (#73) * chore: decrease min point size and acc * Update aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * Update aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * feat: add pure pursuit debug (#74) * fix: ll2 interval (#75) * fix: modify accel map Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * chore: apply pre-commit --------- Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> Co-authored-by: Masahiro Kubota <42679530+masahiro-kubota@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Masahiro Kubota <norikenpi@gmail.com> Co-authored-by: knorrrr <kunotomoki61@gmail.com> * chore: remove same launch * fix: removed simulation arg * chore: remove aichallenge launch * chore: split sim time arg * chore: how to use args * fix: removed simulation arg (#87) * fix: removed simulation arg * chore: split sim time arg * fix: removed simulation arg (#90) * fix: removed simulation arg * chore: split sim time arg * feat: add topic tools * Revert "chore: remove aichallenge launch" This reverts commit d0405f8. * chore: separate sim param (#94) --------- Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: knorrrr <99851410+knorrrr@users.noreply.github.com> Co-authored-by: Masahiro Kubota <42679530+masahiro-kubota@users.noreply.github.com> Co-authored-by: Masahiro Kubota <norikenpi@gmail.com> Co-authored-by: knorrrr <kunotomoki61@gmail.com>
AutomotiveAIChallenge · Sep 13, 2024 · c774316 · c774316
1 parent a57d620
commit c774316
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diff --git a/Dockerfile b/Dockerfile
@@ -11,7 +11,7 @@ RUN apt-get -y install ros-humble-rqt-graph
 # PATH="$PATH:/root/.local/bin"
 # PATH="/usr/local/cuda/bin:$PATH"
 ENV XDG_RUNTIME_DIR=/tmp/xdg
-ENV ROS_LOCALHOST_ONLY=1
+ENV ROS_LOCALHOST_ONLY=0
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 FROM common AS dev

diff --git a/aichallenge/pkill_all.sh b/aichallenge/pkill_all.sh
@@ -1,3 +1,5 @@
+#!/bin/bash
+
 pkill -9 component_conta
 pkill -9 ekf_localizer
 pkill -9 empty_objects_p
@@ -16,4 +18,4 @@ pkill -9 routing_adaptor
 pkill -9 rviz2
 pkill -9 simple_pure_pur
 pkill -9 twist2accel
-pkill -9 vehicle_velocit
+pkill -9 vehicle_velocit
diff --git a/...rkspace/run_aichallenge_launch_vehicle.sh → ...e/run_aichallenge_launch_replay_rosbag.sh b/...rkspace/run_aichallenge_launch_vehicle.sh → ...e/run_aichallenge_launch_replay_rosbag.sh
@@ -2,4 +2,4 @@
 
 source install/setup.bash
 
-ros2 launch aichallenge_launch aichallenge_system.launch.xml simulation:=false
+ros2 launch aichallenge_launch aichallenge_system.launch.xml simulation:=false use_sim_time:=true
diff --git a/aichallenge/workspace/run_aichallenge_launch_run_vehicle.sh b/aichallenge/workspace/run_aichallenge_launch_run_vehicle.sh
@@ -0,0 +1,5 @@
+#!/usr/bin/bash
+
+source install/setup.bash
+
+ros2 launch aichallenge_launch aichallenge_system.launch.xml simulation:=false use_sim_time:=false
diff --git a/aichallenge/workspace/run_aichallenge_launch_simulation.sh b/aichallenge/workspace/run_aichallenge_launch_simulation.sh
@@ -2,4 +2,4 @@
 
 source install/setup.bash
 
-ros2 launch aichallenge_launch aichallenge_system.launch.xml simulation:=true
+ros2 launch aichallenge_launch aichallenge_system.launch.xml simulation:=true use_sim_time:=true
diff --git a/aichallenge/workspace/src/aichallenge_launch/CMakeLists.txt b/aichallenge/workspace/src/aichallenge_launch/CMakeLists.txt
@@ -4,4 +4,4 @@ project(aichallenge_launch)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_package(INSTALL_TO_SHARE launch config)
+ament_auto_package(INSTALL_TO_SHARE launch)
diff --git a/aichallenge/workspace/src/aichallenge_launch/config/converter.param.yaml b/aichallenge/workspace/src/aichallenge_launch/config/converter.param.yaml
diff --git a/aichallenge/workspace/src/aichallenge_launch/config/lanelet2_map_loader.param.yaml b/aichallenge/workspace/src/aichallenge_launch/config/lanelet2_map_loader.param.yaml
diff --git a/aichallenge/workspace/src/aichallenge_launch/launch/aichallenge.launch.xml b/aichallenge/workspace/src/aichallenge_launch/launch/aichallenge.launch.xml
diff --git a/aichallenge/workspace/src/aichallenge_launch/launch/aichallenge_submit.launch.xml b/aichallenge/workspace/src/aichallenge_launch/launch/aichallenge_submit.launch.xml
diff --git a/aichallenge/workspace/src/aichallenge_launch/launch/aichallenge_system.launch.xml b/aichallenge/workspace/src/aichallenge_launch/launch/aichallenge_system.launch.xml
@@ -9,7 +9,7 @@
     <log message="echo launch param use_sim_time: $(var use_sim_time) launch_vehicle_interface: $(var launch_vehicle_interface) sensor_model: $(var sensor_model)"/>
     <log message="echo launch param simulation: $(var simulation)"/>
 
-    <include file="$(find-pkg-share aichallenge_launch)/launch/aichallenge_submit.launch.xml" >
+    <include file="$(find-pkg-share aichallenge_submit_launch)/launch/aichallenge_submit.launch.xml" >
         <arg name="sensor_model" value="$(var sensor_model)"/>
         <arg name="use_sim_time" value="$(var use_sim_time)"/>
         <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
@@ -18,11 +18,11 @@
     <!-- Workaround because the simulator cannot use the service. -->
     <group if="$(var simulation)">
         <node pkg="aichallenge_system_launch" exec="control_mode_adapter.py" output="screen"/>
+        <node pkg="aichallenge_system_launch" exec="object_marker.py" output="screen"/>
     </group>
 
     <!-- RViz -->
     <group>
         <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share aichallenge_system_launch)/rviz/image/autoware.png"/>
-        <node pkg="aichallenge_system_launch" exec="object_marker.py" output="screen"/>
     </group>
 </launch>
diff --git a/...orkspace/src/aichallenge_submit/aichallenge_submit_launch/config/imu_corrector.param.yaml b/...orkspace/src/aichallenge_submit/aichallenge_submit_launch/config/imu_corrector.param.yaml
@@ -2,7 +2,7 @@
   ros__parameters:
     angular_velocity_offset_x: 0.0    # [rad/s]
     angular_velocity_offset_y: 0.0    # [rad/s]
-    angular_velocity_offset_z: 0.0    # [rad/s]
+    angular_velocity_offset_z: -0.004  # [rad/s]
     angular_velocity_stddev_xx: 0.03  # [rad/s]
     angular_velocity_stddev_yy: 0.03  # [rad/s]
     angular_velocity_stddev_zz: 0.03  # [rad/s]
diff --git a/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/data/accel_map.csv b/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/data/accel_map.csv
@@ -7,4 +7,4 @@ default, 0.0    ,2.0    ,4.0    ,6.0    ,8.0    ,10.0
     0.5, 0.175  ,0.175  ,0.175  ,0.175  ,0.175  ,0.175
     0.6, 0.25   ,0.25   ,0.25   ,0.25   ,0.25   ,0.25 
     0.8, 0.7    ,0.7    ,0.7    ,0.7    ,0.7    ,0.7 
-    1.0, 1.0    ,1.0    ,1.0    ,1.0    ,1.0    ,1.0 
+    1.0, 1.0    ,1.0    ,1.0    ,1.0    ,1.0    ,1.0 
diff --git a/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/data/brake_map.csv b/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/data/brake_map.csv
@@ -6,4 +6,4 @@
      0.4, -1.1, -1.1, -1.1, -1.1, -1.1, -1.1
      0.5, -1.3, -1.3, -1.3, -1.3, -1.3, -1.3
      0.6, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5
-     1.0, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5
+     1.0, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5
diff --git a/...ace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml b/...ace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml
@@ -4,13 +4,15 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="launch_vehicle_interface" default="false"/>
   <arg name="sensor_model" default="racing_kart_sensor_kit"/>
+  <arg name="simulation" default="true"/>
   <log message="echo launch param use_sim_time: $(var use_sim_time) launch_vehicle_interface: $(var launch_vehicle_interface) sensor_model: $(var sensor_model)"/>
 
   <include file="$(find-pkg-share aichallenge_submit_launch)/launch/reference.launch.xml" >
     <arg name="vehicle_model" value="racing_kart"/>
     <arg name="sensor_model" value="$(var sensor_model)"/>
     <arg name="map_path" value="$(find-pkg-share aichallenge_submit_launch)/map"/>
     <arg name="use_sim_time" value="$(var use_sim_time)"/>
+    <arg name="simulation" value="$(var simulation)"/>
     <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
   </include>
 

diff --git a/...ge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml b/...ge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml
@@ -2,20 +2,19 @@
 <launch>
   <!-- Essential parameters -->
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
-  <arg name="use_sim_time" default="true"/>
-  <arg name="map_path" default="/aichallenge/mapfile"/>
+  <arg name="use_sim_time" default="false"/>
+  <arg name="map_path" default="$(find-pkg-share aichallenge_submit_launch)/map"/>
   <arg name="vehicle_model" default="racing_kart"  description="vehicle model name"/>
-  <arg name="sensor_model" description="sensor model name"/>
-
+  <arg name="sensor_model" default="racing_kart_sensor_kit" description="sensor model name"/>
+  <arg name="simulation" description="used for sensor kit param"/>
   <!-- Optional parameters -->
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
-  <!-- Control -->
+
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>
-  <!-- System -->
-  <arg name="system_run_mode" default="online" description="run mode in system"/>
+  <log message="echo launch param use_sim_time: $(var use_sim_time) launch_vehicle_interface: $(var launch_vehicle_interface) sensor_model: $(var sensor_model)"/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -29,7 +28,7 @@
     <arg name="model_file" default="$(find-pkg-share tier4_vehicle_launch)/urdf/vehicle.xacro" description="path to the file of model settings (*.xacro)"/>
     <arg name="config_dir" default="$(find-pkg-share racing_kart_sensor_kit_description)/config"/>
     <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
-      <param name="robot_description" value="$(command 'xacro $(var model_file) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model) config_dir:=$(var config_dir)' 'warn')"/>
+      <param name="robot_description" value="$(command 'xacro $(var model_file) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model) config_dir:=$(var config_dir) simulation:=$(var simulation)' 'warn')"/>
     </node>
   </group>
 
@@ -40,19 +39,22 @@
     <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="config_file" value="$(find-pkg-share aichallenge_submit_launch)/config/vehicle_velocity_converter.param.yaml"/>
     </include>
     <group>
       <push-ros-namespace namespace="imu"/>
       <arg name="imu_corrector_param_file" default="$(find-pkg-share aichallenge_submit_launch)/config/imu_corrector.param.yaml"/>
-        <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
-          <arg name="input_topic" value="imu_raw"/>
-          <arg name="output_topic" value="imu_data"/>
-          <arg name="param_file" value="$(var imu_corrector_param_file)"/>
-        </include>
+      <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
+        <arg name="input_topic" value="imu_raw"/>
+        <arg name="output_topic" value="imu_data"/>
+        <arg name="param_file" value="$(var imu_corrector_param_file)"/>
+      </include>
     </group>
   </group>
 
-  <!-- Localization -->
+    <!-- Localization -->
+  <let name="pose_additional_delay_var" value="0.0" if="$(var simulation)"/>
+  <let name="pose_additional_delay_var" value="0.5" unless="$(var simulation)"/>
   <group>
     <push-ros-namespace namespace="localization"/>
     <include file="$(find-pkg-share gyro_odometer)/launch/gyro_odometer.launch.xml">
@@ -68,6 +70,7 @@
       <arg name="enable_yaw_bias_estimation" value="false"/>
       <arg name="tf_rate" value="50.0"/>
       <arg name="twist_smoothing_steps" value="1"/>
+      <arg name="pose_smoothing_steps" value="1"/>
       <arg name="input_initial_pose_name" value="/localization/initial_pose3d"/>
       <arg name="input_pose_with_cov_name" value="/localization/imu_gnss_poser/pose_with_covariance"/>
       <arg name="input_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
@@ -80,6 +83,8 @@
       <arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>
       <arg name="proc_stddev_vx_c" value="10.0"/>
       <arg name="proc_stddev_wz_c" value="5.0"/>
+      <arg name="pose_additional_delay" value="$(var pose_additional_delay_var)"/>
+      <arg name="extend_state_step" value="100"/>
     </include>
 
     <!-- twist2accel -->
@@ -203,12 +208,17 @@
     </group>
   </group>
 
+  <!-- Pure Pursuit -->
+  <let name="steering_tire_angle_gain_var" value="1.0" if="$(var simulation)"/>
+  <let name="steering_tire_angle_gain_var" value="1.639" unless="$(var simulation)"/>
+
   <node pkg="simple_pure_pursuit" exec="simple_pure_pursuit" name="simple_pure_pursuit_node" output="screen">
     <param name="use_external_target_vel" value="false"/>
     <param name="external_target_vel" value="8.0"/>
     <param name="lookahead_gain" value="0.5"/>
     <param name="lookahead_min_distance" value="3.0"/>
     <param name="speed_proportional_gain" value="1.0"/>
+    <param name="steering_tire_angle_gain" value="$(var steering_tire_angle_gain_var)"/>
 
     <remap from="input/kinematics" to="/localization/kinematic_state"/>
     <remap from="input/trajectory" to="/planning/scenario_planning/trajectory"/>

diff --git a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/CMakeLists.txt b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/CMakeLists.txt
@@ -17,4 +17,4 @@ ament_auto_add_executable(goal_pose_setter_node
 ament_auto_package(
   INSTALL_TO_SHARE
   config
-)
+)
diff --git a/aichallenge/workspace/src/aichallenge_submit/imu_corrector/config/imu_corrector.param.yaml b/aichallenge/workspace/src/aichallenge_submit/imu_corrector/config/imu_corrector.param.yaml
@@ -2,7 +2,7 @@
   ros__parameters:
     angular_velocity_offset_x: 0.0    # [rad/s]
     angular_velocity_offset_y: 0.0    # [rad/s]
-    angular_velocity_offset_z: -0.004    # [rad/s]
+    angular_velocity_offset_z: 0.0    # [rad/s]
     angular_velocity_stddev_xx: 0.03  # [rad/s]
     angular_velocity_stddev_yy: 0.03  # [rad/s]
     angular_velocity_stddev_zz: 0.03  # [rad/s]
diff --git a/aichallenge/workspace/src/aichallenge_submit/imu_gnss_poser/CMakeLists.txt b/aichallenge/workspace/src/aichallenge_submit/imu_gnss_poser/CMakeLists.txt
@@ -16,4 +16,4 @@ ament_auto_add_executable(imu_gnss_poser_node
 
 ament_auto_package(
   INSTALL_TO_SHARE
-)
+)
diff --git a/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/CMakeLists.txt b/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/CMakeLists.txt
@@ -14,4 +14,4 @@ ament_auto_add_executable(path_to_trajectory_node
   src/path_to_trajectory.cpp
 )
 
-ament_auto_package()
+ament_auto_package()
diff --git a/...c/aichallenge_submit/path_to_trajectory/include/path_to_trajectory/path_to_trajectory.hpp b/...c/aichallenge_submit/path_to_trajectory/include/path_to_trajectory/path_to_trajectory.hpp
@@ -34,4 +34,4 @@ class PathToTrajectory : public rclcpp::Node {
   rclcpp::Publisher<Trajectory>::SharedPtr pub_;
 };
 
-#endif  // PATH_TO_TRAJECTORY__PATH_TO_TRAJECTORY_HPP_
+#endif  // PATH_TO_TRAJECTORY__PATH_TO_TRAJECTORY_HPP_
diff --git a/aichallenge/workspace/src/aichallenge_submit/racing_kart_description/CMakeLists.txt b/aichallenge/workspace/src/aichallenge_submit/racing_kart_description/CMakeLists.txt
@@ -12,4 +12,4 @@ ament_auto_package(INSTALL_TO_SHARE
   mesh
   urdf
   config
-)
+)
diff --git a/...e/workspace/src/aichallenge_submit/racing_kart_description/config/vehicle_info.param.yaml b/...e/workspace/src/aichallenge_submit/racing_kart_description/config/vehicle_info.param.yaml
@@ -9,4 +9,4 @@
     left_overhang: 0.09 # between rear left wheel center and vehicle left (the half of the rear wheel width)
     right_overhang: 0.09 # between rear right wheel center and vehicle right (the half of the rear wheel width)
     vehicle_height: 2.2 # vehicle height + sensor_kit height
-    max_steer_angle: 0.64 # [rad]
+    max_steer_angle: 0.64 # [rad]
diff --git a/aichallenge/workspace/src/aichallenge_submit/racing_kart_description/mesh/square.dae b/aichallenge/workspace/src/aichallenge_submit/racing_kart_description/mesh/square.dae
@@ -1254,4 +1254,4 @@
   <scene>
     <instance_visual_scene url="#699211dd-c421-4a6e-8573-f8cc1c1bcaad"></instance_visual_scene>
   </scene>
-</COLLADA>
+</COLLADA>
diff --git a/aichallenge/workspace/src/aichallenge_submit/racing_kart_description/package.xml b/aichallenge/workspace/src/aichallenge_submit/racing_kart_description/package.xml
@@ -13,4 +13,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
diff --git a/aichallenge/workspace/src/aichallenge_submit/racing_kart_description/urdf/vehicle.xacro b/aichallenge/workspace/src/aichallenge_submit/racing_kart_description/urdf/vehicle.xacro
@@ -14,4 +14,4 @@
     </visual>
   </link>
 
-</robot>
+</robot>
diff --git a/...llenge/workspace/src/aichallenge_submit/racing_kart_sensor_kit_description/CMakeLists.txt b/...llenge/workspace/src/aichallenge_submit/racing_kart_sensor_kit_description/CMakeLists.txt
@@ -8,4 +8,4 @@ ament_auto_find_build_dependencies()
 ament_auto_package(INSTALL_TO_SHARE
     urdf
     config
-)
+)
diff --git a/...llenge_submit/racing_kart_sensor_kit_description/config/awsim_sensor_kit_calibration.yaml b/...llenge_submit/racing_kart_sensor_kit_description/config/awsim_sensor_kit_calibration.yaml
@@ -0,0 +1,15 @@
+sensor_kit_base_link:
+  gnss_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  imu_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
diff --git a/.../aichallenge_submit/racing_kart_sensor_kit_description/config/sensor_kit_calibration.yaml b/.../aichallenge_submit/racing_kart_sensor_kit_description/config/sensor_kit_calibration.yaml
@@ -19,4 +19,4 @@ sensor_kit_base_link:
     z: 0.0
     roll: 0.0
     pitch: 0.0
-    yaw: -1.57
+    yaw: -1.5707963268
diff --git a/...workspace/src/aichallenge_submit/racing_kart_sensor_kit_description/urdf/sensor_kit.xacro b/...workspace/src/aichallenge_submit/racing_kart_sensor_kit_description/urdf/sensor_kit.xacro
@@ -5,6 +5,7 @@
 
     <xacro:arg name="gpu" default="false"/>
     <xacro:arg name="config_dir" default="$(find racing_kart_sensor_kit_description)/config"/>
+    <xacro:arg name="simulation" default="false"/>
 
     <xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link"/>
 
@@ -18,8 +19,11 @@
     </link>
 
     <!-- sensor -->
-    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
-
+    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>   
+    <!-- over write calibration file for simulation -->
+    <xacro:if value="$(arg simulation)">
+      <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/awsim_sensor_kit_calibration.yaml')}"/>    
+    </xacro:if>
     <!-- gnss -->
     <xacro:imu_macro
       name="gnss"

diff --git a/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/CMakeLists.txt b/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/CMakeLists.txt
@@ -13,4 +13,4 @@ ament_auto_add_executable(simple_pure_pursuit
   src/simple_pure_pursuit.cpp
 )
 
-ament_auto_package()
+ament_auto_package()
diff --git a/...ichallenge_submit/simple_pure_pursuit/include/simple_pure_pursuit/simple_pure_pursuit.hpp b/...ichallenge_submit/simple_pure_pursuit/include/simple_pure_pursuit/simple_pure_pursuit.hpp
@@ -60,4 +60,4 @@ class SimplePurePursuit : public rclcpp::Node {
 
 }  // namespace simple_pure_pursuit
 
-#endif  // SIMPLE_PURE_PURSUIT_HPP_
+#endif  // SIMPLE_PURE_PURSUIT_HPP_
diff --git a/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/package.xml b/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/package.xml
@@ -17,4 +17,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
diff --git a/.../workspace/src/aichallenge_system/aichallenge_system_launch/config/autoware.png b/.../workspace/src/aichallenge_system/aichallenge_system_launch/config/autoware.png
Original file line number	Diff line number	Diff line change
Expand Up		@@ -2,4 +2,4 @@

		source install/setup.bash

		ros2 launch aichallenge_launch aichallenge_system.launch.xml simulation:=false
		ros2 launch aichallenge_launch aichallenge_system.launch.xml simulation:=false use_sim_time:=true
-Original file line number
+Diff line change
@@ Expand Up / @@ -17,4 +17,4 @@ ament_auto_add_executable(goal_pose_setter_node @@
     ament_auto_package(
       INSTALL_TO_SHARE
       config
-    )
+    )
Original file line number	Diff line number	Diff line change
Expand Up		@@ -60,4 +60,4 @@ class SimplePurePursuit : public rclcpp::Node {

		} // namespace simple_pure_pursuit

		#endif // SIMPLE_PURE_PURSUIT_HPP_
		#endif // SIMPLE_PURE_PURSUIT_HPP_