Maxime/awsd psim add planning control#3
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Maxime/awsd psim add planning control#3maxime-clem wants to merge 36 commits intotechnolojin:awsd-psim-add_planning_controlfrom
maxime-clem wants to merge 36 commits intotechnolojin:awsd-psim-add_planning_controlfrom
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…ages with initial configurations and design modules update package name and host ip for awsim feat: add VelodyneLidar module and various design configurations for sensing and system components feat: add new parameter sets for perception and logging simulation components feat: add sample system sensing parameter set and update launch configurations feat: update logging simulation parameters and correct parameter set reference in AutowareSample system fix: update compute unit for localization component in AutowareSample system configuration fix: update connections for localization component in AutowareSample system configuration feat: enhance SampleSystemRobotStatePublisher with input/output message types and update AutowareSample system configuration for ADAPI integration feat: add sample system global parameter set and reference it in AutowareSample system configuration feat: add GNSS and sensor modules for SampleSensorKit, including UbloxGpsDriver and associated configurations feat: add new sensor modules and configurations for SampleSensorKit, including VelodyneLidar and IMU decoding feat: introduce SampleRosbagReplay node configuration and update AutowareSample system to include rosbag replay functionality fix: update namespace for robot_state_publisher in AutowareSample system configuration refactor: remove vehicle status outputs from SampleRosbagReplay configuration and clean up AutowareSample system entity references feat: add new Lidar configuration files and update parameter set for sensing nodes in AutowareSample system feat: add GNSS decoding module and update SampleSensorKit configuration to include GNSS input feat: add SampleSensorKitADAPIWrapper configuration and integrate it into AutowareSample system refactor: update output names in SampleSensorKitADAPIWrapper configuration to remove 'api/' prefix and adjust AutowareSample system connections accordingly refactor: change 'inheritance' to 'base' in Lidar and SensorKit module configurations for consistency Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Update default host IP in lidar launch file to 255.255.255.255 for improved network configuration Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add new perception and sensing modules including ObjectRecognition, TrafficLightRecognition, and various Lidar and radar configurations Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add new Lidar decoding modules and update SampleSensorKit configurations to integrate VLP16 and VLS128 modules Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> refactor: update input topic connections in SampleSensorKitLidar module and remove redundant input_topics parameter from sample_system_sensing configuration Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add SampleAWSIM_in and SampleAWSIM_out node configurations with input/output message types and integrate them into AutowareSample system Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> refactor: remove deprecated sensing components and integrate traffic light recognition and vehicle velocity converter into E2ESimulation connections Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add TrafficLightRecognitionRefine_1 module and update AutowareSample system to use the new module while modifying compute unit and connections Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix: update compute unit for control component in AutowareSample system configuration Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add e2e_simulation.parameter_set for end-to-end simulation configuration and update AutowareSample system to reference the new parameter set Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add LidarVelodyneVLP16_awsim and SampleSensorKitAWSIM modules with updated connections in AutowareSample system for enhanced sensing capabilities Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: enhance SampleSensorKitAWSIM module by adding pose_ndt input and imu_data output, and update AutowareSample system connections for improved localization and sensing integration Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: update e2e_simulation.parameter_set to enable simulation time and reference it in AutowareSample system for improved simulation accuracy Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> refactor: remove unused sensing connections from E2ESimulation in AutowareSample system to streamline configuration and improve clarity Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: enhance TrafficLightRecognitionRefine_1 module by adding external interfaces and overriding multi_camera_fusion instance, while updating AutowareSample system connections for improved traffic light recognition capabilities Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add system node configuration in e2e_simulation.parameter_set and update AutowareSample system connections for enhanced system monitoring capabilities Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix: update imu_data output naming in SampleSensorKit and SampleSensorKitAWSIM modules, and adjust connections in AutowareSample system for consistency and clarity Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix: add additional connection for imu_raw input in SampleSensorKitImu_decode module to improve data flow in AutowareSample system Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix: add odometry input and update connections in SampleSensorKitAWSIM module to enhance data integration in AutowareSample system Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> update configs to pass linter Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix: update connections in AutowareSample system to streamline data flow between localization and sensing modules Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix: increase cloud capacity in centerpoint parameters to enhance object detection performance Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix: update planning simulator launch configuration and modify AutowareSample system to remove unnecessary components and override occupancy grid map settings for improved simulation performance Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: introduce DummyObjectRecognition module for enhanced object recognition capabilities in planning simulation, and update AutowareSample system to integrate new perception module and streamline connections Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add localization module and update connections in AutowareSample system to enhance localization capabilities and improve data flow Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add SimplePlanningSimulator module and update connections in AutowareSample system to enhance simulation capabilities and improve data flow Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add vehicle_cmd_converter module and update connections in AutowareSample system to enhance control command processing and improve data flow Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: enhance control and simulation data flow in AutowareSample system by adding new connections for object recognition, obstacle segmentation, and vehicle status inputs Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add planning simulation parameter set and integrate it into PlanningSimulation mode in AutowareSample system Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix: correct connection from vehicle_velocity_converter output in PlanningSimApiLocalization module Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add new modules for object recognition and localization in planning simulation Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…reSample system to enhance object recognition and data flow Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: remove autoware_common_designs package and add new object recognition modules to enhance perception capabilities in AutowareSample system Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add occupancy grid map parameters to planning simulation for improved obstacle detection and processing Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: introduce PlanningSimVehicle module and update connections in AutowareSample system to enhance vehicle command processing and door status integration Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: update planning simulation parameters to include is_simulation and enable_all_modules_auto_mode for enhanced simulation control Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix: update connections in AutowareSample system to use wildcard notation for improved flexibility in data routing Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> move module files from autoware_universe Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> move wrappers from autoware_universe Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add sample system perception parameter set and remove obsolete universe perception parameter sets to streamline configuration Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> refactor: update parameter sets in AutowareSample system to use sample_system_perception for consistency and clarity Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> refactor: update parameter set in AutowareSample system to use sample_system_perception for improved clarity Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix: add remap_target for robot_description output in SampleSystemRobotStatePublisher configuration for improved clarity Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add ObjectDetection and ObjectRecognition modules to enhance perception capabilities and remove obsolete merged modules for improved clarity Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: introduce TrafficLightRecognition module and remove obsolete merged modules for improved clarity in perception system design Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: remove obsolete RadarDriver modules and introduce TrafficLightRecognition module to enhance perception system design Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: remove obsolete HesaiLidar and HesaiLidar_decode modules to streamline lidar system design Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: add SampleSensorKitADAPIWrapper and SampleSystemSensingWrapper configurations to enhance sensor integration and streamline system design Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…information for various nodes to enhance system clarity and organization Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> feat: enhance system design by updating node configurations and improving package organization for better clarity Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> refactor: clean up YAML configurations by removing unnecessary whitespace and improving formatting for better readability Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…ss multiple YAML configurations for consistency and clarity Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> build: add autoware_ament_auto_package to CMakeLists.txt Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> chore: resolve mistype and exception Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> chore: fix pre-commit.ci issue Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> chore: standardize package name from 'AWSIM' to 'awsim' in SampleAwsimIn and SampleAwsimOut node configurations for consistency Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…' to 'inputs' and 'outputs' for consistency across multiple modules Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> chore: update autoware_system_design_format from v0.1.0 to v0.3.0 across multiple YAML configurations for consistency and clarity Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> chore: update autoware_system_design_format to v0.3.0 and standardize parameter naming across multiple YAML configurations Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> chore: update autoware_system_design_format to v0.3.0 and standardize parameter naming conventions across multiple YAML configuration files Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> replace conection input/output Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix service type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…ith 'subscribers' and 'publishers' across multiple perception and sensing modules for consistency. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Refactor YAML connection definitions to use a consistent multi-line format across various perception and sensing modules, enhancing readability and maintainability. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Add 'launch' configuration with 'use_container: true' for multiple perception and sensing modules to enable containerized execution. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Add container name 'pointcloud_container' to sensing modules in AutowareSample.system.yaml for improved containerized execution. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Remove 'use_container' option from TamagawaImuCanDriver node configuration to streamline YAML settings for improved clarity. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Update autoware_system_design_format to v0.3.1 and replace 'launch' with 'arguments' for container configuration across multiple perception and sensing modules to enhance clarity and consistency. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Remove shape estimation node from CameraLidarFusion module and add 'run_convex_hull_conversion' parameter to detected_object_feature_remover for enhanced functionality in perception system. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Add new node configurations for AutowareGlogComponent, Ros2Container, and Ros2ContainerMultiThread in YAML format to enhance system design and modularity. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Update AutowareSample.system.yaml to replace 'container_name' with 'container_target' for consistency in container configuration across multiple modules. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Update AutowareSample.system.yaml to change 'pointcloud_container' references to '/pointcloud_container' and update the entity name for the pointcloud container to 'Ros2ContainerMultiThread.node' for improved clarity and consistency in container configuration. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…clarity and add a new process group for pointcloud container management. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Add pointcloud_container node group with multi-threaded configuration for improved processing Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Refactor pointcloud_container configuration to use multi-threaded node group for improved performance Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Remove deprecated Ros2Container.node.yaml and Ros2ContainerMultiThread.node.yaml files to streamline container configuration. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Remove glog_component from pointcloud_container node group to streamline configuration Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Update node paths in parameter set YAML files for consistency with ROS2 structure Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Update node specification in logging_simulation.parameter_set.yaml for clarity Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Update namespaces in AutowareSample.system.yaml for consistency and clarity Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Rename occupancy_grid_map to occupancy_grid_map_node for consistency across module configurations Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Update component paths in AutowareSample.system.yaml for consistency with ROS2 structure Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Rename occupancy_grid_map to occupancy_grid_map_node for consistency in parameter set Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> update deployment centerpoint config Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> format fix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
… config Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Add autoware_system_designer repository to build dependencies Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Fix indentation for autoware_system_designer entry in build dependencies Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Fix function call for ament_auto_package in CMakeLists.txt Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Fix entity references in DummyObjectRecognition.module.yaml Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Add node_groups section for pointcloud_container in PlanningSimulation Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Rename object_recognition/detection to object_recognition_detection in DummyObjectRecognition.module.yaml Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Update entity references for LidarVelodyne modules to include online/offline suffixes Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Fix trigger condition in Ros2SocketCanSenderNode configuration Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Remove PointcloudContainer.node.yaml configuration file from the autoware_common_designs deployment. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Update version to 0.50.0 and add new maintainers for autoware_common_designs and autoware_sample_deployment packages Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> merge autoware_common_designs package to autoware_sample_deployment. update project name in autoware_sample_deployment to autoware_sample_designs. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> rename folder autoware_sample_deployment to autoware_sample_designs Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…yaml to use autoware_perception_msgs for consistency with other modules. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…er.node.yaml to use autoware_perception_msgs for consistency with other modules." This reverts commit aa48a10. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
… custom target for improved build configuration. Delete empty.cpp file as it is no longer needed. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…oes not rely on. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…yaml to use autoware_perception_msgs for consistency with other modules. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> fix traffic light msg type Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> add control node/modules (WIP) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> fix some msg types, inputs, and connections Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> tmp fix Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> update Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> add visualization component (just rviz node) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> add missing parameters Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> fix control parameter setting Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> temporary remove the check_external_emergency_heartbeat arg from param Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Remove namespace entries for planning and control modules in AutowareSample.system.yaml Update message type for traffic_signals in Tier4PlanningWrapper.node.yaml to use autoware_perception_msgs Add new planning and control modules - Introduced Control.module, BehaviorPlanning.module, LaneDriving.module, MissionPlanning.module, MotionPlanning.module, Planning.module, and ScenarioPlanning.module. - Each module includes instances, subscribers, publishers, and connections to facilitate communication within the system. - Added Rviz.node for visualization purposes. This update enhances the overall architecture and functionality of the Autoware system design. Add control containers to AutowareSample.system.yaml - Introduced control_container and control_check_container to encapsulate control-related nodes. - Updated Control.module.yaml to remove commented-out control_container instance. - This update enhances the modularity and organization of the control components within the Autoware system design. Refactor planning modules and add component containers to AutowareSample.system.yaml - Removed commented-out container instances from BehaviorPlanning.module.yaml, MissionPlanning.module.yaml, and MotionPlanning.module.yaml for clarity. - Introduced new component containers for behavior, mission, and motion planning in AutowareSample.system.yaml to enhance modularity and organization of planning nodes. - This update improves the structure and maintainability of the planning components within the Autoware system design. Update parameter set files for universe_control and universe_planning - Updated autoware_system_design_format to 0.3.0 in both universe_control.parameter_set.yaml and universe_planning.parameter_set.yaml. - Changed 'parameters' to 'param_values' and 'parameter_files' to 'param_files' for consistency across parameter definitions. - Enhanced clarity by renaming parameter paths in universe_planning.parameter_set.yaml for better readability. Fix formatting issues in Rviz.node.yaml and AutowareSample.system.yaml - Added a newline at the end of Rviz.node.yaml to adhere to file formatting standards. - Removed unnecessary blank lines in AutowareSample.system.yaml for improved readability.
…consistency - Unified parameter path keys from 'param_path1', 'param_path2', etc., to a single 'param_path' for clarity and consistency across nodes. - Ensured all relevant parameter files are correctly referenced under their respective nodes.
…m.yaml with additional parameter paths and connections - Updated parameter paths in universe_planning.parameter_set.yaml for consistency and clarity. - Added new parameter files for latency checking, trajectory checking, and collision checking in the universe planning configuration. - Expanded connections in AutowareSample.system.yaml to include localization publishers for kinematic state and acceleration, improving data flow between modules.
- Removed the steering status subscriber connection for better organization. - Updated the operation mode publisher connection to enhance clarity in the control module's configuration.
…ht states - Eliminated the virtual_traffic_light_states subscriber and publisher from BehaviorPlanning, LaneDriving, MotionPlanning, Planning, and ScenarioPlanning modules for improved clarity and organization. - Updated connections accordingly to reflect the removal of these components, enhancing the overall structure of the planning modules.
…ing namespaces - Changed publisher names in Planning.module.yaml to include the 'mission_planning' namespace for route and state. - Updated connections in AutowareSample.system.yaml to reflect the new publisher names, enhancing clarity and organization in the planning module's configuration.
- Introduced a new node configuration for the planning evaluator, including its associated parameter files for enhanced planning capabilities. - This update improves the modularity and organization of the planning parameters within the universe planning configuration.
…rver and connections - Incremented autoware_system_design_format to 0.3.1 in MissionPlanning.module.yaml and Planning.module.yaml. - Added clear_route server to both modules, enhancing route management capabilities. - Updated connections in both modules and AutowareSample.system.yaml to integrate clear_route functionality, improving overall system communication. - Introduced routing/clear_route client in SampleSensorKitADAPIWrapper.node.yaml for better interaction with the routing service.
- Added stop_mode_operator node to Control.module.yaml for improved control logic. - Updated subscribers and connections in Control.module.yaml to include route_state, enhancing data flow. - Renamed state publisher to route_state in MissionPlanning.module.yaml and Planning.module.yaml for consistency. - Updated connections in AutowareSample.system.yaml to reflect new route_state integration, improving overall system communication.
…r integrations - Added new publishers for api_route and mission_planning/route in MissionPlanning.module.yaml and Planning.module.yaml to improve routing capabilities. - Introduced set_lanelet_route and set_waypoint_route servers in both modules for enhanced route management. - Updated connections in both modules and AutowareSample.system.yaml to reflect the new publishers and servers, improving overall system communication.
- Introduced manual_lane_change_handler node in MissionPlanning.module.yaml to enhance lane change capabilities. - Updated connections in both MissionPlanning.module.yaml and Planning.module.yaml to integrate the new handler, improving overall routing and operational functionality.
- Introduced reroute_availability publisher in BehaviorPlanning, LaneDriving, and ScenarioPlanning modules to enhance routing capabilities. - Updated connections in Planning.module.yaml to integrate reroute availability, improving overall system communication and responsiveness. - Ensured consistency across modules by adding modified_goal and reroute_availability connections where applicable.
…scriber connections - Added new subscriber connections in Planning.module.yaml for route, lanelet map, kinematics, acceleration, operational mode state, and traffic signals to enhance data flow and validation capabilities. - Updated AutowareSample.system.yaml to include additional subscriber connections for steering status and traffic signals, improving overall system communication and integration.
…em configuration - Introduced a new subscriber connection for operation_mode/state in AutowareSample.system.yaml to enhance system communication and integration. - This update improves the overall data flow and responsiveness of the system by ensuring that the operation mode state is properly communicated to the control module.
- Updated Rviz.node.yaml to include arguments for loading the Autoware RViz configuration and image. - Integrated Rviz node into AutowareSample.system.yaml, enhancing the system's visualization capabilities by ensuring Rviz is properly connected to the main ECU.
…pper configurations - Changed the API path for the SampleSensorKitADAPIWrapper from '/api' to '/' to streamline endpoint access. - Updated publisher names in SampleSensorKitADAPIWrapper.node.yaml to include 'api/' prefix for consistency across localization, vehicle, planning, and system outputs. - Adjusted connections in AutowareSample.system.yaml to reflect the new publisher naming conventions, enhancing overall system integration and communication.
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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Description
How was this PR tested?
Notes for reviewers
None.
Effects on system behavior
None.