control.launch.xml

<launch>
  <!-- controller -->
  <arg name="trajectory_follower_mode" default="trajectory_follower_node"/>
  <arg name="lateral_controller_mode"/>
  <arg name="longitudinal_controller_mode"/>
  <arg name="check_external_emergency_heartbeat"/>

  <!-- external cmd selector and converter -->
  <arg name="launch_external_cmd_selector" default="true"/>
  <arg name="launch_external_cmd_converter" default="true"/>

  <!-- control-check modules, optional -->
  <arg name="launch_lane_departure_checker" default="true"/>
  <arg name="launch_control_validator" default="true"/>
  <arg name="launch_autonomous_emergency_braking" default="true"/>
  <arg name="launch_collision_detector" default="true"/>
  <arg name="launch_obstacle_collision_checker" default="false"/>
  <arg name="launch_predicted_path_checker" default="false"/>
  <arg name="launch_control_evaluator" default="true"/>
  <arg name="use_aeb_autoware_state_check"/>

  <!-- common param path -->
  <arg name="vehicle_param_file"/>
  <arg name="nearest_search_param_path"/>

  <!-- package param path -->
  <arg name="trajectory_follower_node_param_path"/>
  <arg name="lat_controller_param_path"/>
  <arg name="lon_controller_param_path"/>
  <arg name="vehicle_cmd_gate_param_path"/>
  <arg name="lane_departure_checker_param_path"/>
  <arg name="control_validator_param_path"/>
  <arg name="operation_mode_transition_manager_param_path"/>
  <arg name="shift_decider_param_path"/>
  <arg name="obstacle_collision_checker_param_path"/>
  <arg name="external_cmd_selector_param_path"/>
  <arg name="aeb_param_path"/>
  <arg name="predicted_path_checker_param_path"/>
  <arg name="collision_detector_param_path"/>

  <!-- component -->
  <arg name="use_intra_process" default="false" description="use ROS 2 component container communication"/>
  <arg name="use_multithread" default="true" description="use multithread"/>

  <let name="container_executable" value="component_container" unless="$(var use_multithread)"/>
  <let name="container_executable" value="component_container_mt" if="$(var use_multithread)"/>

  <group>
    <push-ros-namespace namespace="control"/>

    <group>
      <!-- set a control container to run all required components in the same process -->
      <node_container pkg="rclcpp_components" exec="$(var container_executable)" name="control_container" namespace="">
        <composable_node pkg="autoware_glog_component" plugin="autoware::glog_component::GlogComponent" name="glog_control_container_component"/>
        <!-- shift decider -->
        <composable_node pkg="autoware_shift_decider" plugin="autoware::shift_decider::ShiftDecider" name="autoware_shift_decider">
          <remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd"/>
          <remap from="input/state" to="/autoware/state"/>
          <remap from="input/current_gear" to="/vehicle/status/gear_status"/>
          <remap from="output/gear_cmd" to="/control/shift_decider/gear_cmd"/>
          <param from="$(var shift_decider_param_path)"/>
          <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
        </composable_node>
        <!-- vehicle cmd gate -->
        <composable_node pkg="autoware_vehicle_cmd_gate" plugin="autoware::vehicle_cmd_gate::VehicleCmdGate" name="vehicle_cmd_gate">
          <remap from="input/steering" to="/vehicle/status/steering_status"/>
          <remap from="input/operation_mode" to="/system/operation_mode/state"/>
          <remap from="input/auto/control_cmd" to="/control/trajectory_follower/control_cmd"/>
          <remap from="input/auto/turn_indicators_cmd" to="/planning/turn_indicators_cmd"/>
          <remap from="input/auto/hazard_lights_cmd" to="/planning/hazard_lights_cmd"/>
          <remap from="input/auto/gear_cmd" to="/control/shift_decider/gear_cmd"/>
          <remap from="input/external/control_cmd" to="/external/selected/control_cmd"/>
          <remap from="input/external/turn_indicators_cmd" to="/external/selected/turn_indicators_cmd"/>
          <remap from="input/external/hazard_lights_cmd" to="/external/selected/hazard_lights_cmd"/>
          <remap from="input/external/gear_cmd" to="/external/selected/gear_cmd"/>
          <remap from="input/external_emergency_stop_heartbeat" to="/external/selected/heartbeat"/>
          <remap from="input/gate_mode" to="/control/gate_mode_cmd"/>
          <remap from="input/emergency/control_cmd" to="/system/emergency/control_cmd"/>
          <remap from="input/emergency/turn_indicators_cmd" to="/system/emergency/turn_indicators_cmd"/>
          <remap from="input/emergency/hazard_lights_cmd" to="/system/emergency/hazard_lights_cmd"/>
          <remap from="input/emergency/gear_cmd" to="/system/emergency/gear_cmd"/>
          <remap from="input/mrm_state" to="/system/fail_safe/mrm_state"/>
          <remap from="input/kinematics" to="/localization/kinematic_state"/>
          <remap from="input/acceleration" to="/localization/acceleration"/>
          <remap from="output/vehicle_cmd_emergency" to="/control/command/emergency_cmd"/>
          <remap from="output/control_cmd" to="/control/command/control_cmd"/>
          <remap from="output/gear_cmd" to="/control/command/gear_cmd"/>
          <remap from="output/turn_indicators_cmd" to="/control/command/turn_indicators_cmd"/>
          <remap from="output/hazard_lights_cmd" to="/control/command/hazard_lights_cmd"/>
          <remap from="output/gate_mode" to="/control/current_gate_mode"/>
          <remap from="output/engage" to="/api/autoware/get/engage"/>
          <remap from="output/external_emergency" to="/api/autoware/get/emergency"/>
          <remap from="output/operation_mode" to="/control/vehicle_cmd_gate/operation_mode"/>
          <remap from="~/service/engage" to="/api/autoware/set/engage"/>
          <remap from="~/service/external_emergency" to="/api/autoware/set/emergency"/>
          <!-- TODO(Takagi, Isamu): deprecated -->
          <remap from="input/engage" to="/autoware/engage"/>
          <remap from="~/service/external_emergency_stop" to="~/external_emergency_stop"/>
          <remap from="~/service/clear_external_emergency_stop" to="~/clear_external_emergency_stop"/>
          <param from="$(var vehicle_cmd_gate_param_path)"/>
          <param from="$(var vehicle_param_file)"/>
          <param name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
          <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
        </composable_node>
        <!-- operation mode transition manager -->
        <composable_node
          pkg="autoware_operation_mode_transition_manager"
          plugin="autoware::operation_mode_transition_manager::OperationModeTransitionManager"
          name="autoware_operation_mode_transition_manager"
        >
          <!-- input -->
          <remap from="kinematics" to="/localization/kinematic_state"/>
          <remap from="steering" to="/vehicle/status/steering_status"/>
          <remap from="trajectory" to="/planning/scenario_planning/trajectory"/>
          <remap from="control_cmd" to="/control/command/control_cmd"/>
          <remap from="trajectory_follower_control_cmd" to="/control/trajectory_follower/control_cmd"/>
          <remap from="control_mode_report" to="/vehicle/status/control_mode"/>
          <remap from="gate_operation_mode" to="/control/vehicle_cmd_gate/operation_mode"/>
          <!-- output -->
          <remap from="is_autonomous_available" to="/control/is_autonomous_available"/>
          <remap from="control_mode_request" to="/control/control_mode_request"/>
          <param from="$(var nearest_search_param_path)"/>
          <param from="$(var operation_mode_transition_manager_param_path)"/>
          <param from="$(var vehicle_param_file)"/>
          <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
        </composable_node>
      </node_container>

      <!-- trajectory_follower_node -->
      <group if="$(eval &quot;'$(var trajectory_follower_mode)' == 'trajectory_follower_node'&quot;)">
        <load_composable_node target="/control/control_container">
          <composable_node pkg="autoware_trajectory_follower_node" plugin="autoware::motion::control::trajectory_follower_node::Controller" name="controller_node_exe" namespace="trajectory_follower">
            <remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory_no_publish"/>
            <remap from="~/input/current_odometry" to="/localization/kinematic_state_no_publish"/>
            <remap from="~/input/current_steering" to="/vehicle/status/steering_status_no_publish"/>
            <remap from="~/input/current_accel" to="/localization/acceleration_no_publish"/>
            <remap from="~/input/current_operation_mode" to="/system/operation_mode/state_no_publish"/>
            <remap from="~/output/predicted_trajectory" to="lateral/predicted_trajectory_no_publish"/>
            <remap from="~/output/lateral_diagnostic" to="lateral/diagnostic_no_publish"/>
            <remap from="~/output/slope_angle" to="longitudinal/slope_angle_no_publish"/>
            <remap from="~/output/longitudinal_diagnostic" to="longitudinal/diagnostic_no_publish"/>
            <remap from="~/output/stop_reason" to="longitudinal/stop_reason_no_publish"/>
            <remap from="~/output/control_cmd" to="control_cmd_no_publish"/>
            <param name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
            <param name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>
            <param from="$(var nearest_search_param_path)"/>
            <param from="$(var trajectory_follower_node_param_path)"/>
            <param from="$(var lon_controller_param_path)"/>
            <param from="$(var lat_controller_param_path)"/>
            <param from="$(var vehicle_param_file)"/>
            <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
          </composable_node>
        </load_composable_node>
      </group>

      <!-- smart_mpc, under development -->
      <group if="$(eval &quot;'$(var trajectory_follower_mode)' == 'smart_mpc_trajectory_follower'&quot;)">
        <node pkg="autoware_smart_mpc_trajectory_follower" exec="pympc_trajectory_follower.py" name="controller_node_exe"/>
      </group>

      <!-- external cmd selector -->
      <group if="$(var launch_external_cmd_selector)">
        <include file="$(find-pkg-share autoware_external_cmd_selector)/launch/external_cmd_selector.launch.py">
          <arg name="use_intra_process" value="$(var use_intra_process)"/>
          <arg name="target_container" value="/control/control_container"/>
          <arg name="external_cmd_selector_param_path" value="$(var external_cmd_selector_param_path)"/>
        </include>
      </group>
      <!-- external cmd converter -->
      <group if="$(var launch_external_cmd_converter)">
        <include file="$(find-pkg-share autoware_external_cmd_converter)/launch/external_cmd_converter.launch.py">
          <arg name="use_intra_process" value="$(var use_intra_process)"/>
          <arg name="target_container" value="/control/control_container"/>
        </include>
      </group>
    </group>

    <group>
      <!-- set a control check container to run all control checker components in the same process -->
      <node_container pkg="rclcpp_components" exec="$(var container_executable)" name="control_check_container" namespace="">
        <composable_node pkg="autoware_glog_component" plugin="autoware::glog_component::GlogComponent" name="glog_control_check_container_component"/>
      </node_container>

      <!-- lane departure checker -->
      <group if="$(var launch_lane_departure_checker)">
        <load_composable_node target="/control/control_check_container">
          <composable_node pkg="autoware_lane_departure_checker" plugin="autoware::lane_departure_checker::LaneDepartureCheckerNode" name="lane_departure_checker_node" namespace="trajectory_follower">
            <remap from="~/input/odometry" to="/localization/kinematic_state"/>
            <remap from="~/input/lanelet_map_bin" to="/map/vector_map"/>
            <remap from="~/input/route" to="/planning/mission_planning/route"/>
            <remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
            <remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
            <param from="$(var nearest_search_param_path)"/>
            <param from="$(var lane_departure_checker_param_path)"/>
            <param from="$(var vehicle_param_file)"/>
            <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
          </composable_node>
        </load_composable_node>
      </group>

      <!-- control validator checker -->
      <group if="$(var launch_control_validator)">
        <load_composable_node target="/control/control_check_container">
          <composable_node pkg="autoware_control_validator" plugin="autoware::control_validator::ControlValidator" name="control_validator">
            <remap from="~/input/control_cmd" to="/control/command/control_cmd"/>
            <remap from="~/input/kinematics" to="/localization/kinematic_state"/>
            <remap from="~/input/measured_acceleration" to="/localization/acceleration"/>
            <remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
            <remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
            <remap from="~/output/validation_status" to="~/validation_status"/>
            <param from="$(var control_validator_param_path)"/>
          </composable_node>
        </load_composable_node>
      </group>

      <!-- autonomous emergency braking -->
      <group if="$(var launch_autonomous_emergency_braking)">
        <load_composable_node target="/control/control_check_container">
          <composable_node pkg="autoware_autonomous_emergency_braking" plugin="autoware::motion::control::autonomous_emergency_braking::AEB" name="autonomous_emergency_braking">
            <remap from="~/input/pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
            <remap from="~/input/velocity" to="/vehicle/status/velocity_status"/>
            <remap from="~/input/imu" to="/sensing/imu/imu_data"/>
            <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
            <remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
            <param from="$(var aeb_param_path)"/>
            <param name="check_autoware_state" value="$(var use_aeb_autoware_state_check)"/>
            <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
          </composable_node>
        </load_composable_node>
      </group>

      <!-- collision detector-->
      <group if="$(var launch_collision_detector)">
        <load_composable_node target="/control/control_check_container">
          <composable_node pkg="autoware_collision_detector" plugin="autoware::collision_detector::CollisionDetectorNode" name="collision_detector">
            <remap from="~/input/odometry" to="/localization/kinematic_state"/>
            <remap from="~/input/pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
            <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
            <param from="$(var collision_detector_param_path)"/>
          </composable_node>
        </load_composable_node>
      </group>

      <!-- obstacle collision checker -->
      <group if="$(var launch_obstacle_collision_checker)">
        <load_composable_node target="/control/control_check_container">
          <composable_node pkg="autoware_obstacle_collision_checker" plugin="autoware::obstacle_collision_checker::ObstacleCollisionCheckerNode" name="obstacle_collision_checker">
            <remap from="input/lanelet_map_bin" to="/map/vector_map"/>
            <remap from="input/obstacle_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
            <remap from="input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
            <remap from="input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
            <remap from="input/odometry" to="/localization/kinematic_state"/>
            <param from="$(var obstacle_collision_checker_param_path)"/>
            <param from="$(var vehicle_param_file)"/>
            <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
          </composable_node>
        </load_composable_node>
      </group>

      <!-- predicted path checker -->
      <group if="$(var launch_predicted_path_checker)">
        <load_composable_node target="/control/control_check_container">
          <composable_node pkg="autoware_predicted_path_checker" plugin="autoware::predicted_path_checker::PredictedPathCheckerNode" name="predicted_path_checker">
            <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
            <remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
            <remap from="~/input/current_accel" to="/localization/acceleration"/>
            <remap from="~/input/odometry" to="/localization/kinematic_state"/>
            <remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
            <param from="$(var vehicle_param_file)"/>
            <param from="$(var predicted_path_checker_param_path)"/>
            <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
          </composable_node>
        </load_composable_node>
      </group>
    </group>

    <!-- control evaluator -->
    <group if="$(var launch_control_evaluator)">
      <include file="$(find-pkg-share autoware_control_evaluator)/launch/control_evaluator.launch.xml"/>
    </group>
  </group>
</launch>