Merge pull request #59 from jkk-research/58-crp-fix-build-scripts

58 crp fix build scripts

launch/crp_launcher/launch/core.launch.py

@@ -0,0 +1,118 @@
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import LaunchConfigurationEquals
+from launch.launch_description_sources import PythonLaunchDescriptionSource, AnyLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+from os.path import join
+
+
+def generate_launch_description():
+
+    # ARGS
+
+    # sensor abstraction
+    vehicle_tire_angle_topic_arg = DeclareLaunchArgument(
+        'vehicle_tire_angle_topic',
+        default_value='/sensing/vehicle/tire_angle',
+        description='Length of the scenario in meters')
+    local_path_length_arg = DeclareLaunchArgument(
+        'local_path_length',
+        default_value='70.0',
+        description='Length of the scenario in meters')
+
+    # NODES
+
+    sensor_abstraction = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            join(
+                get_package_share_directory('prcp_sensor_abstraction'),
+                'launch',
+                'sensor_abstraction.launch.py')
+        )
+    )
+
+    environmental_fusion = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            join(
+                get_package_share_directory('prcp_situation_analysis'),
+                'launch',
+                'environmental_fusion.launch.py')
+        )
+    )
+
+    behavior_planning = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            join(
+                get_package_share_directory('plan_behavior_planning'),
+                'launch',
+                'behavior_planning.launch.py'
+            )
+        )
+    )
+
+    motion_planning = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            join(
+                get_package_share_directory('plan_motion_planning'),
+                'launch',
+                'motion_planning.launch.py'
+            )
+        )
+    )
+
+    planner_lat_lane_follow_ldm = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            join(
+                get_package_share_directory('plan_lat_lane_follow_ldm'),
+                'launch',
+                'plan_lat_lane_follow_ldm.launch.py'
+            )
+        )
+    )
+
+    vehicle_control = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            join(
+                get_package_share_directory('ctrl_vehicle_control'),
+                'launch',
+                'ctrl_vehicle_control.launch.py')
+        )
+    )
+
+    vehicle_control_lat = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            join(
+                get_package_share_directory('ctrl_vehicle_control_lat_compensatory'),
+                'launch',
+                'ctrl_vehicle_control_lat_compensatory.launch.py')
+        )
+    )
+
+    vehicle_control_long = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            join(
+                get_package_share_directory('ctrl_vehicle_control_long'),
+                'launch',
+                'ctrl_vehicle_control_long.launch.py')
+        )
+    )
+
+    return LaunchDescription([
+        # args
+        vehicle_tire_angle_topic_arg,
+        vehicle_tire_angle_topic_arg,
+        local_path_length_arg,
+
+        # nodes
+        sensor_abstraction,
+        environmental_fusion,
+        behavior_planning,
+        motion_planning,
+        vehicle_control,
+        vehicle_control_lat,
+        vehicle_control_long,
+
+        planner_lat_lane_follow_ldm
+    ])

launch/crp_launcher/launch/lexus.launch.py

@@ -77,6 +77,18 @@ def generate_launch_description():
         default_value='70.0',
         description='Length of the scenario in meters')
 
+
+    # CORE
+
+    crp_core = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            join(
+                get_package_share_directory('crp_launcher'),
+                'launch',
+                'core.launch.py')
+        )
+    )
+
     # NODES
 
     novatel_gps = IncludeLaunchDescription(
@@ -198,63 +210,6 @@ def generate_launch_description():
         )
     )
 
-    sensor_abstraction = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            join(
-                get_package_share_directory('prcp_sensor_abstraction'),
-                'launch',
-                'sensor_abstraction.launch.py')
-        )
-    )
-
-    environmental_fusion = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            join(
-                get_package_share_directory('prcp_situation_analysis'),
-                'launch',
-                'environmental_fusion.launch.py')
-        )
-    )
-
-    behavior_planning = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            join(
-                get_package_share_directory('plan_behavior_planning'),
-                'launch',
-                'behavior_planning.launch.py'
-            )
-        )
-    )
-
-    motion_planning = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            join(
-                get_package_share_directory('plan_motion_planning'),
-                'launch',
-                'motion_planning.launch.py'
-            )
-        )
-    )
-
-    planner_lat_lane_follow_ldm = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            join(
-                get_package_share_directory('plan_lat_lane_follow_ldm'),
-                'launch',
-                'plan_lat_lane_follow_ldm.launch.py'
-            )
-        )
-    )
-
-    vehicle_control = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            join(
-                get_package_share_directory('ctrl_vehicle_control'),
-                'launch',
-                'ctrl_vehicle_control.launch.py')
-        )
-    )
-
     lexus_speed_control = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             join(
@@ -264,24 +219,6 @@ def generate_launch_description():
         )
     )
 
-    vehicle_control_lat = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            join(
-                get_package_share_directory('ctrl_vehicle_control_lat_compensatory'),
-                'launch',
-                'ctrl_vehicle_control_lat_compensatory.launch.py')
-        )
-    )
-
-    vehicle_control_long = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            join(
-                get_package_share_directory('ctrl_vehicle_control_long'),
-                'launch',
-                'ctrl_vehicle_control_long.launch.py')
-        )
-    )
-
     return LaunchDescription([
         # args
         select_gps_arg,
@@ -300,6 +237,9 @@ def generate_launch_description():
         vehicle_tire_angle_topic_arg,
         local_path_length_arg,
 
+        # core
+        crp_core,
+
         # vehicle nodes
         novatel_gps,
         duro_gps,
@@ -316,13 +256,4 @@ def generate_launch_description():
 
         # nodes
         lanelet_file_loader,
-        sensor_abstraction,
-        environmental_fusion,
-        behavior_planning,
-        motion_planning,
-        vehicle_control,
-        vehicle_control_lat,
-        vehicle_control_long,
-
-        planner_lat_lane_follow_ldm
     ])

launch/crp_launcher/package.xml

@@ -9,22 +9,13 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <!-- common -->
-  <depend>novatel_gps_launcher</depend>
   <depend>tf2_ros</depend>
-  <depend>kvaser_interface</depend>
-  <depend>lanelet_handler</depend>
   <depend>prcp_sensor_abstraction</depend>
   <depend>prcp_situation_analysis</depend>
   <depend>plan_behavior_planning</depend>
   <depend>plan_motion_planning</depend>
   <depend>plan_lat_lane_follow_ldm</depend>
   <depend>ctrl_vehicle_control</depend>
-  <!-- nissan -->
-  <depend>nissan_bringup</depend>
-  <!-- lexus -->
-  <depend>lexus_bringup</depend>
-  <depend>pacmod3</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

scripts/build_all.sh

@@ -3,6 +3,36 @@ cd $script_dir
 while [ ! -e "src/" ]; do
   cd ../
 done
-echo $(pwd)
+echo "Build location: "$(pwd)
 
-colcon build --symlink-install
+# build core
+trap 'exit' INT # trap ctrl-c
+$script_dir/build_core.sh
+trap - INT
+
+# build lexus packages
+packages=(
+  duro_gps_driver
+  duro_gps_launcher
+  kvaser_interface
+  lanelet_handler
+  lexus_bringup
+  mcap_rec
+  mpc_camera_driver
+  novatel_gps_msgs
+  novatel_gps_driver
+  novatel_gps_launcher
+  pacmod_extender
+  pacmod_interface
+)
+
+packages_string=""
+for package in "${packages[@]}"; do
+  packages_string+="$package "
+done
+
+packages_paths=$(colcon list --packages-up-to $packages_string -p)
+
+rosdep install --from-paths $packages_paths --ignore-src -r -y
+
+colcon build --packages-select $packages_string

scripts/build_core.sh

@@ -3,9 +3,17 @@ cd $script_dir
 while [ ! -e "src/" ]; do
   cd ../
 done
-echo $(pwd)
+echo "Build location: "$(pwd)
 
-colcon build --symlink-install --packages-select \
+rosdep install --from-paths $script_dir/../crp_APL $script_dir/../crp_CIL --ignore-src -r -y
+colcon build --packages-select \
+tier4_planning_msgs \
+autoware_common_msgs \
+autoware_planning_msgs \
+autoware_perception_msgs \
+autoware_control_msgs \
+autoware_localization_msgs \
+autoware_map_msgs \
 crp_msgs \
 prcp_sensor_abstraction \
 prcp_situation_analysis \
@@ -18,4 +26,6 @@ plan_lon_intelligent_speed_adjust \
 plan_motion_planning \
 crp_launcher \
 ctrl_vehicle_control \
-test_node
+ctrl_vehicle_control_lat_compensatory \
+ctrl_vehicle_control_long \
+test_node