Add vehicle info launch for setting vehicle info param (autowarefound…

…ation#199)

* Add vehicle info launch for setting vehicle info param

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add comment for global parameters section

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix year and apply format

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

* Remove ready vehicle info param

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

autoware_launch/launch/autoware.launch.xml

@@ -9,6 +9,12 @@
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" />
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" />
 
+  <!-- Global parameters -->
+  <!-- Vehicle info -->
+  <include file="$(find-pkg-share vehicle_launch)/launch/vehicle_info.launch.py">
+    <arg name="config_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+
   <!-- Vehicle -->
   <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>

autoware_launch/launch/logging_simulator.launch.xml

@@ -21,6 +21,12 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" />
   <set_parameter name="use_sim_time" value="true" />
 
+  <!-- Global parameters -->
+  <!-- Vehicle info -->
+  <include file="$(find-pkg-share vehicle_launch)/launch/vehicle_info.launch.py">
+    <arg name="config_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+
   <!-- Vehicle -->
   <group>
     <include file="$(find-pkg-share vehicle_launch)/launch/vehicle_description.launch.xml" if="$(var vehicle)">

autoware_launch/launch/planning_simulator.launch.xml

@@ -20,6 +20,12 @@
   <!-- Optional parameters for vcu emulation -->
   <arg name="vehicle_simulation" default="true"/>
 
+  <!-- Global parameters -->
+  <!-- Vehicle info -->
+  <include file="$(find-pkg-share vehicle_launch)/launch/vehicle_info.launch.py">
+    <arg name="config_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+  </include>
+
   <!-- Vehicle -->
   <include file="$(find-pkg-share vehicle_launch)/launch/vehicle.launch.xml">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>

vehicle_launch/launch/vehicle.launch.xml

@@ -9,13 +9,6 @@
   <arg name="scenario_simulation" default="false" />
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
-  <!-- vehicle info -->
-  <group>
-    <include file="$(find-pkg-share vehicle_info_param_server)/launch/vehicle_info_param_server.launch.xml">
-      <arg name="config_file" value="$(var vehicle_param_file)"/>
-    </include>
-  </group>
-
   <!-- vehicle description -->
   <group>
     <include file="$(find-pkg-share vehicle_launch)/launch/vehicle_description.launch.xml">

vehicle_launch/launch/vehicle_info.launch.py

@@ -0,0 +1,34 @@
+# Copyright 2021 Tier IV, Inc. All rights reserved.
+#
+# 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 import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import SetParameter
+import yaml
+
+
+def launch_setup(context, *args, **kwargs):
+    vehicle_param_file = LaunchConfiguration('config_file').perform(context)
+    with open(vehicle_param_file, 'r') as f:
+        vehicle_param = yaml.safe_load(f)['/**']['ros__parameters']
+    return [SetParameter(name=k, value=v) for (k, v) in vehicle_param.items()]
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        DeclareLaunchArgument('config_file'),
+        OpaqueFunction(function=launch_setup),
+    ])