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autowarefoundation / autoware_launch

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Preparing settings to launch localization modules on planning_simulator #1100

Open yuki-takagi-66 opened 2 months ago

yuki-takagi-66 commented 2 months ago

Checklist

Description

Add an option to psim settings to launch the localization module. This is motivated by evaluating the control module with localization contained in a closed loop.

Purpose

Currently we do not have a simulation environment precise enough to develop and evaluate control modules. Localization is not activated in psim, and vehicle behavior calculations are inadequate in awsim. To address this issue, we will add some settings for the psim.

Possible approaches

We prepare launch settings for psim both of autoware_launch and universe. In addition to the localization launch settings, simple_planning_simulator have to corresponds to the localization launch settings. We make changes only in planning_simulator and do not affect autoware.launch.

Definition of done

We can launch the localization modules except for ndt_scan_matcher by only changing the planning_simulator.launch.xml.

yuki-takagi-66 commented 2 months ago

As a first preparation, we made PR to allow switching between multiple modes of localization settings in psim with a single variable. https://github.com/autowarefoundation/autoware_launch/pull/1106 https://github.com/autowarefoundation/autoware.universe/pull/8331

yuki-takagi-66 commented 1 month ago

I would like to make this series of changes in the following steps.

  1. prepare a mode name (done)
  2. add the new mode (done 8/19)
  3. update the scenario simulator to support the new mode
  4. modify the simulator parameters, both the scenario simulator and psim, to synchronize the vehicle model calculation with the localization modules
  5. set the new mode to default (optional)