37
38 route_file_folder = LaunchConfiguration('route_file_folder')
39 vehicle_calibration_dir = LaunchConfiguration('vehicle_calibration_dir')
40 vehicle_characteristics_param_file = LaunchConfiguration('vehicle_characteristics_param_file')
41 enable_guidance_plugin_validator = LaunchConfiguration('enable_guidance_plugin_validator')
42 strategic_plugins_to_validate = LaunchConfiguration('strategic_plugins_to_validate')
43 tactical_plugins_to_validate = LaunchConfiguration('tactical_plugins_to_validate')
44 control_plugins_to_validate = LaunchConfiguration('control_plugins_to_validate')
45
46 vehicle_config_param_file = LaunchConfiguration('vehicle_config_param_file')
47
48 inlanecruising_plugin_file_path = os.path.join(
49 get_package_share_directory('inlanecruising_plugin'), 'config/parameters.yaml')
50
51 route_following_plugin_file_path = os.path.join(
52 get_package_share_directory('route_following_plugin'), 'config/parameters.yaml')
53
54 stop_and_wait_plugin_param_file = os.path.join(
55 get_package_share_directory('stop_and_wait_plugin'), 'config/parameters.yaml')
56
57 light_controlled_intersection_tactical_plugin_param_file = os.path.join(
58 get_package_share_directory('light_controlled_intersection_tactical_plugin'), 'config/parameters.yaml')
59
60 cooperative_lanechange_param_file = os.path.join(
61 get_package_share_directory('cooperative_lanechange'), 'config/parameters.yaml')
62
63 platoon_strategic_ihp_param_file = os.path.join(
64 get_package_share_directory('platoon_strategic_ihp'), 'config/parameters.yaml')
65
66 sci_strategic_plugin_file_path = os.path.join(
67 get_package_share_directory('sci_strategic_plugin'), 'config/parameters.yaml')
68
69 lci_strategic_plugin_file_path = os.path.join(
70 get_package_share_directory('lci_strategic_plugin'), 'config/parameters.yaml')
71
72 stop_and_dwell_strategic_plugin_container_file_path = os.path.join(
73 get_package_share_directory('stop_and_dwell_strategic_plugin'), 'config/parameters.yaml')
74
75 yield_plugin_file_path = os.path.join(
76 get_package_share_directory('yield_plugin'), 'config/parameters.yaml')
77
78 platoon_tactical_ihp_param_file = os.path.join(
79 get_package_share_directory('platooning_tactical_plugin'), 'config/parameters.yaml')
80
81 approaching_emergency_vehicle_plugin_param_file = os.path.join(
82 get_package_share_directory('approaching_emergency_vehicle_plugin'), 'config/parameters.yaml')
83
84 stop_controlled_intersection_tactical_plugin_file_path = os.path.join(
85 get_package_share_directory('stop_controlled_intersection_tactical_plugin'), 'config/parameters.yaml')
86
87 trajectory_follower_wrapper_param_file = os.path.join(
88 get_package_share_directory('trajectory_follower_wrapper'), 'config/parameters.yaml')
89
90 env_log_levels = EnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', default_value='{ "default_level" : "WARN" }')
91
92 pure_pursuit_tuning_parameters = [vehicle_calibration_dir, "/pure_pursuit/calibration.yaml"]
93
94 unique_vehicle_calibration_params = [vehicle_calibration_dir, "/identifiers/UniqueVehicleParams.yaml"]
95
96 platooning_control_param_file = os.path.join(
97 get_package_share_directory('platooning_control'), 'config/parameters.yaml')
98
99 carma_inlanecruising_plugin_container = ComposableNodeContainer(
100 package='carma_ros2_utils',
101 name='carma_lainlanecruising_plugin_container',
102 executable='carma_component_container_mt',
103 namespace=GetCurrentNamespace(),
104 composable_node_descriptions=[
105 ComposableNode(
106 package='inlanecruising_plugin',
107 plugin='inlanecruising_plugin::InLaneCruisingPluginNode',
108 name='inlanecruising_plugin',
109 extra_arguments=[
110 {'use_intra_process_comms': True},
111 {'--log-level' : GetLogLevel('inlanecruising_plugin', env_log_levels) }
112 ],
113 remappings = [
114 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
115 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
116 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
117 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
118 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
119 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
120 ],
121 parameters=[
122 inlanecruising_plugin_file_path,
123 vehicle_config_param_file
124 ]
125 ),
126 ]
127 )
128
129 carma_route_following_plugin_container = ComposableNodeContainer(
130 package='carma_ros2_utils',
131 name='carma_route_following_plugin_container',
132 executable='carma_component_container_mt',
133 namespace=GetCurrentNamespace(),
134 composable_node_descriptions=[
135
136 ComposableNode(
137 package='route_following_plugin',
138 plugin='route_following_plugin::RouteFollowingPlugin',
139 name='route_following_plugin',
140 extra_arguments=[
141 {'use_intra_process_comms': True},
142 {'--log-level' : GetLogLevel('route_following_plugin', env_log_levels) }
143 ],
144 remappings = [
145 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
146 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
147 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
148 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
149 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
150 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
151 ("current_velocity", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
152 ("maneuver_plan", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/final_maneuver_plan" ] ),
153 ],
154 parameters=[
155 route_following_plugin_file_path,
156 vehicle_config_param_file
157 ]
158 ),
159 ]
160 )
161
162 carma_approaching_emergency_vehicle_plugin_container = ComposableNodeContainer(
163 package='carma_ros2_utils',
164 name='carma_approaching_emergency_vehicle_plugin_container',
165 executable='carma_component_container_mt',
166 namespace=GetCurrentNamespace(),
167 composable_node_descriptions=[
168
169 ComposableNode(
170 package='approaching_emergency_vehicle_plugin',
171 plugin='approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin',
172 name='approaching_emergency_vehicle_plugin',
173 extra_arguments=[
174 {'use_intra_process_comms': True},
175 {'--log-level' : GetLogLevel('approaching_emergency_vehicle_plugin', env_log_levels) }
176 ],
177 remappings = [
178 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
179 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
180 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
181 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
182 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
183 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
184 ("state", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/state" ] ),
185 ("approaching_erv_status", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/approaching_erv_status" ] ),
186 ("hazard_light_status", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/hazard_light_status" ] ),
187 ("current_velocity", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
188 ("incoming_bsm", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_bsm" ] ),
189 ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] ),
190 ("route_state", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route_state" ] ),
191 ("outgoing_emergency_vehicle_response", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_emergency_vehicle_response" ] ),
192 ("incoming_emergency_vehicle_ack", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_emergency_vehicle_ack" ])
193 ],
194 parameters=[
195 approaching_emergency_vehicle_plugin_param_file,
196 vehicle_characteristics_param_file,
197 vehicle_config_param_file
198 ]
199 ),
200 ]
201 )
202
203 carma_stop_and_wait_plugin_container = ComposableNodeContainer(
204 package='carma_ros2_utils',
205 name='carma_stop_and_wait_plugin_container',
206 executable='carma_component_container_mt',
207 namespace=GetCurrentNamespace(),
208 composable_node_descriptions=[
209
210 ComposableNode(
211 package='stop_and_wait_plugin',
212 plugin='stop_and_wait_plugin::StopandWaitNode',
213 name='stop_and_wait_plugin',
214 extra_arguments=[
215 {'use_intra_process_comms': True},
216 {'--log-level' : GetLogLevel('stop_and_wait_plugin', env_log_levels) }
217 ],
218 remappings = [
219 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
220 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
221 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
222 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
223 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
224 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
225 ],
226 parameters=[
227 stop_and_wait_plugin_param_file,
228 vehicle_config_param_file
229 ]
230 ),
231 ]
232 )
233
234 carma_sci_strategic_plugin_container = ComposableNodeContainer(
235 package='carma_ros2_utils',
236 name='carma_sci_strategic_plugin_container',
237 executable='carma_component_container_mt',
238 namespace=GetCurrentNamespace(),
239 composable_node_descriptions=[
240 ComposableNode(
241 package='sci_strategic_plugin',
242 plugin='sci_strategic_plugin::SCIStrategicPlugin',
243 name='sci_strategic_plugin',
244 extra_arguments=[
245 {'use_intra_process_comms': True},
246 {'--log-level' : GetLogLevel('sci_strategic_plugin', env_log_levels) }
247 ],
248 remappings = [
249 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
250 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
251 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
252 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
253 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
254 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
255 ("maneuver_plan", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/final_maneuver_plan" ] ),
256 ("outgoing_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_operation" ] ),
257 ("incoming_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_operation" ] ),
258 ("bsm_outbound", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/bsm_outbound" ] ),
259 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
260 ],
261 parameters=[
262 sci_strategic_plugin_file_path,
263 vehicle_config_param_file
264 ]
265 ),
266 ]
267 )
268
269 carma_lci_strategic_plugin_container = ComposableNodeContainer(
270 package='carma_ros2_utils',
271 name='carma_lci_strategic_plugin_container',
272 executable='carma_component_container_mt',
273 namespace=GetCurrentNamespace(),
274 composable_node_descriptions=[
275 ComposableNode(
276 package='lci_strategic_plugin',
277 plugin='lci_strategic_plugin::LCIStrategicPlugin',
278 name='lci_strategic_plugin',
279 extra_arguments=[
280 {'use_intra_process_comms': True},
281 {'--log-level' : GetLogLevel('lci_strategic_plugin', env_log_levels) }
282 ],
283 remappings = [
284 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
285 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
286 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
287 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
288 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
289 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
290 ("maneuver_plan", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/final_maneuver_plan" ] ),
291 ("outgoing_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_operation" ] ),
292 ("incoming_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_operation" ] ),
293 ("bsm_outbound", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/bsm_outbound" ] ),
294 ],
295 parameters=[
296 lci_strategic_plugin_file_path,
297 vehicle_config_param_file,
298 unique_vehicle_calibration_params
299 ]
300 ),
301 ]
302 )
303
304 carma_stop_controlled_intersection_tactical_plugin_container = ComposableNodeContainer(
305 package='carma_ros2_utils',
306 name='carma_stop_controlled_intersection_tactical_plugin_container',
307 executable='carma_component_container_mt',
308 namespace=GetCurrentNamespace(),
309 composable_node_descriptions=[
310 ComposableNode(
311 package='stop_controlled_intersection_tactical_plugin',
312 plugin='stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin',
313 name='stop_controlled_intersection_tactical_plugin',
314 extra_arguments=[
315 {'use_intra_process_comms': True},
316 {'--log-level' : GetLogLevel('stop_controlled_intersection_tactical_plugin', env_log_levels) }
317 ],
318 remappings = [
319 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
320 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
321 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
322 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
323 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
324 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] )
325 ],
326 parameters=[
327 stop_controlled_intersection_tactical_plugin_file_path,
328 vehicle_config_param_file
329 ]
330 ),
331 ]
332 )
333
334 carma_cooperative_lanechange_plugins_container = ComposableNodeContainer(
335 package='carma_ros2_utils',
336 name='carma_cooperative_lanechange_plugins_container',
337 executable='carma_component_container_mt',
338 namespace=GetCurrentNamespace(),
339 composable_node_descriptions=[
340 ComposableNode(
341 package='cooperative_lanechange',
342 plugin='cooperative_lanechange::CooperativeLaneChangePlugin',
343 name='cooperative_lanechange',
344 extra_arguments=[
345 {'use_intra_process_comms': True},
346 {'--log-level' : GetLogLevel('cooperative_lanechange', env_log_levels) }
347 ],
348 remappings = [
349 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
350 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
351 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
352 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
353 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
354 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
355 ("current_velocity", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
356 ("cooperative_lane_change_status", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/cooperative_lane_change_status" ] ),
357 ("bsm_outbound", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/bsm_outbound" ] ),
358 ("outgoing_mobility_request", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_request" ] ),
359 ("incoming_mobility_response", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_response" ] ),
360 ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] ),
361 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] )
362 ],
363 parameters=[
364 cooperative_lanechange_param_file,
365 vehicle_characteristics_param_file,
366 vehicle_config_param_file
367 ]
368 ),
369 ]
370 )
371
372 carma_yield_plugin_container = ComposableNodeContainer(
373 package='carma_ros2_utils',
374 name='carma_yield_plugin_container',
375 executable='carma_component_container_mt',
376 namespace=GetCurrentNamespace(),
377 composable_node_descriptions=[
378 ComposableNode(
379 package='yield_plugin',
380 plugin='yield_plugin::YieldPluginNode',
381 name='yield_plugin',
382 extra_arguments=[
383 {'use_intra_process_comms': True},
384 {'--log-level' : GetLogLevel('yield_plugin', env_log_levels) }
385 ],
386 remappings = [
387 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
388 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
389 ("external_object_predictions", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/external_object_predictions" ] ),
390 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
391 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
392 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
393 ("outgoing_mobility_response", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_response" ] ),
394 ("incoming_mobility_request", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_request" ] ),
395 ("cooperative_lane_change_status", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/cooperative_lane_change_status" ] ),
396 ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference"]),
397 ("bsm_outbound", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/bsm_outbound" ] ),
398 ],
399 parameters=[
400 yield_plugin_file_path,
401 vehicle_config_param_file
402 ]
403 ),
404 ]
405 )
406
407 carma_light_controlled_intersection_plugins_container = ComposableNodeContainer(
408 package='carma_ros2_utils',
409 name='carma_light_controlled_intersection_plugins_container',
410 executable='carma_component_container_mt',
411 namespace=GetCurrentNamespace(),
412 composable_node_descriptions=[
413 ComposableNode(
414 package='light_controlled_intersection_tactical_plugin',
415 plugin='light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode',
416 name='light_controlled_intersection_tactical_plugin',
417 extra_arguments=[
418 {'use_intra_process_comms': True},
419 {'--log-level' : GetLogLevel('light_controlled_intersection_tactical_plugin', env_log_levels) }
420 ],
421 remappings = [
422 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
423 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
424 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
425 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
426 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
427 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] )
428 ],
429 parameters=[
430 vehicle_config_param_file,
431 light_controlled_intersection_tactical_plugin_param_file
432 ]
433 ),
434 ]
435 )
436
437 carma_pure_pursuit_wrapper_container = ComposableNodeContainer(
438 package='carma_ros2_utils',
439 name='carma_pure_pursuit_wrapper_container',
440 executable='carma_component_container_mt',
441 namespace=GetCurrentNamespace(),
442 composable_node_descriptions=[
443 ComposableNode(
444 package='pure_pursuit_wrapper',
445 plugin='pure_pursuit_wrapper::PurePursuitWrapperNode',
446 name='pure_pursuit_wrapper',
447 extra_arguments=[
448 {'use_intra_process_comms': True},
449 {'--log-level' : GetLogLevel('pure_pursuit_wrapper', env_log_levels) }
450 ],
451 remappings = [
452 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
453 ("ctrl_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/ctrl_raw" ] ),
454 ("pure_pursuit_wrapper/plan_trajectory", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugins/pure_pursuit/plan_trajectory" ] ),
455 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
456 ("vehicle/twist", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
457 ],
458 parameters=[
459 vehicle_characteristics_param_file,
460 vehicle_config_param_file,
461 pure_pursuit_tuning_parameters
462 ]
463 ),
464 ]
465 )
466
467 trajectory_follower_container = ComposableNodeContainer(
468 package='carma_ros2_utils',
469 name='trajectory_follower_container',
470 executable='carma_component_container_mt',
471 namespace=GetCurrentNamespace(),
472 composable_node_descriptions=[
473 ComposableNode(
474 package='trajectory_follower_nodes',
475 plugin='autoware::motion::control::trajectory_follower_nodes::LatLonMuxer',
476 name='latlon_muxer_node',
477 extra_arguments=[
478 {'use_intra_process_comms': False},
479 {'--log-level' : GetLogLevel('latlon_muxer', env_log_levels) }
480 ],
481 remappings = [
482 ("input/lateral/control_cmd", "trajectory_follower/lateral/control_cmd"),
483 ("input/longitudinal/control_cmd", "trajectory_follower/longitudinal/control_cmd"),
484 ("output/control_cmd", "trajectory_follower/control_cmd")
485 ],
486 parameters=[
487 {'timeout_thr_sec':0.5}
488 ]
489 ),
490 ComposableNode(
491 package='trajectory_follower_nodes',
492 plugin='autoware::motion::control::trajectory_follower_nodes::LateralController',
493 name='lateral_controller_node',
494 extra_arguments=[
495 {'use_intra_process_comms': True},
496 {'--log-level' : GetLogLevel('lateral_controller', env_log_levels) }
497 ],
498 remappings = [
499 ("output/lateral/control_cmd", "trajectory_follower/lateral/control_cmd"),
500 ("input/current_kinematic_state", "trajectory_follower/current_kinematic_state"),
501 ("input/reference_trajectory","trajectory_follower/reference_trajectory" )
502 ],
503 parameters = [
504 [vehicle_calibration_dir, "/trajectory_follower/lateral_controller_defaults.yaml"]
505 ]
506 ),
507 ComposableNode(
508 package='trajectory_follower_nodes',
509 plugin='autoware::motion::control::trajectory_follower_nodes::LongitudinalController',
510 name='longitudinal_controller_node',
511 extra_arguments=[
512 {'use_intra_process_comms': False},
513 {'--log-level' : GetLogLevel('longitudinal_controller', env_log_levels) }
514 ],
515 remappings = [
516 ("output/longitudinal/control_cmd", "trajectory_follower/longitudinal/control_cmd"),
517 ("input/current_trajectory", "trajectory_follower/reference_trajectory"),
518 ("input/current_state", "trajectory_follower/current_kinematic_state")
519 ],
520 parameters = [
521 [vehicle_calibration_dir, "/trajectory_follower/longitudinal_controller_defaults.yaml"]
522 ]
523 )
524 ]
525 )
526 carma_trajectory_follower_wrapper_container = ComposableNodeContainer(
527 package='carma_ros2_utils',
528 name='carma_trajectory_follower_wrapper_container',
529 executable='carma_component_container_mt',
530 namespace=GetCurrentNamespace(),
531 composable_node_descriptions=[
532 ComposableNode(
533 package='trajectory_follower_wrapper',
534 plugin='trajectory_follower_wrapper::TrajectoryFollowerWrapperNode',
535 name='trajectory_follower_wrapper',
536 extra_arguments=[
537 {'use_intra_process_comms': True},
538 {'--log-level' : GetLogLevel('trajectory_follower_wrapper', env_log_levels) }
539 ],
540 remappings = [
541 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
542 ("ctrl_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/ctrl_raw" ] ),
543 ("trajectory_follower_wrapper/plan_trajectory", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugins/trajectory_follower_wrapper/plan_trajectory" ] ),
544 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
545 ("vehicle/twist", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
546 ],
547 parameters=[
548 vehicle_characteristics_param_file,
549 trajectory_follower_wrapper_param_file
550 ]
551 ),
552 ]
553 )
554
555 platooning_strategic_plugin_container = ComposableNodeContainer(
556 package='carma_ros2_utils',
557 name='platooning_strategic_plugin_container',
558 executable='carma_component_container_mt',
559 namespace=GetCurrentNamespace(),
560 composable_node_descriptions=[
561 ComposableNode(
562 package='platoon_strategic_ihp',
563 plugin='platoon_strategic_ihp::Node',
564 name='platoon_strategic_ihp_node',
565 extra_arguments=[
566 {'use_intra_process_comms': True},
567 {'--log-level' : GetLogLevel('platoon_strategic_ihp', env_log_levels) }
568 ],
569 remappings = [
570 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
571 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
572 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
573 ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] ),
574 ("outgoing_mobility_response", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_response" ] ),
575 ("outgoing_mobility_request", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_request" ] ),
576 ("outgoing_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_operation" ] ),
577 ("incoming_mobility_request", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_request" ] ),
578 ("incoming_mobility_response", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_response" ] ),
579 ("incoming_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_operation" ] ),
580 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
581 ("twist_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/twist_raw" ] ),
582 ("platoon_info", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/platoon_info" ] ),
583 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
584 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
585 ("current_velocity", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
586 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
587 ],
588 parameters=[
589 platoon_strategic_ihp_param_file,
590 vehicle_config_param_file
591 ]
592 ),
593 ]
594 )
595
596 platooning_tactical_plugin_container = ComposableNodeContainer(
597 package='carma_ros2_utils',
598 name='platooning_tactical_plugin_container',
599 executable='carma_component_container_mt',
600 namespace=GetCurrentNamespace(),
601 composable_node_descriptions=[
602 ComposableNode(
603 package='platooning_tactical_plugin',
604 plugin='platooning_tactical_plugin::Node',
605 name='platooning_tactical_plugin_node',
606 extra_arguments=[
607 {'use_intra_process_comms': True},
608 {'--log-level' : GetLogLevel('platooning_tactical_plugin', env_log_levels) }
609 ],
610 remappings = [
611 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
612 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
613 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
614 ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] ),
615 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
616 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
617 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
618 ],
619 parameters=[ platoon_tactical_ihp_param_file, vehicle_config_param_file ]
620 ),
621 ]
622 )
623
624 platooning_control_plugin_container = ComposableNodeContainer(
625 package='carma_ros2_utils',
626 name='platooning_control_container',
627 executable='carma_component_container_mt',
628 namespace=GetCurrentNamespace(),
629 composable_node_descriptions=[
630 ComposableNode(
631 package='platooning_control',
632 plugin='platooning_control::PlatooningControlPlugin',
633 name='platooning_control',
634 extra_arguments=[
635 {'use_intra_process_comms': True},
636 {'--log-level' : GetLogLevel('platooning_control_plugin', env_log_levels) }
637 ],
638 remappings = [
639 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
640 ("ctrl_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/ctrl_raw" ] ),
641 ("twist_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/twist_raw" ] ),
642 ("platooning_control/plan_trajectory", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugins/platooning_control/plan_trajectory" ] ),
643 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
644 ("vehicle/twist", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
645 ],
646 parameters=[ platooning_control_param_file, vehicle_config_param_file, unique_vehicle_calibration_params ]
647 )
648 ]
649 )
650
651 carma_stop_and_dwell_strategic_plugin_container = ComposableNodeContainer(
652 package='carma_ros2_utils',
653 name='carma_stop_and_dwell_strategic_plugin_container',
654 executable='carma_component_container_mt',
655 namespace=GetCurrentNamespace(),
656 composable_node_descriptions=[
657 ComposableNode(
658 package='stop_and_dwell_strategic_plugin',
659 plugin='stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin',
660 name='stop_and_dwell_strategic_plugin',
661 extra_arguments=[
662 {'use_intra_process_comms': True},
663 {'--log-level' : GetLogLevel('stop_and_dwell_strategic_plugin', env_log_levels) }
664 ],
665 remappings = [
666 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
667 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
668 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
669 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
670 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
671 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
672 ("maneuver_plan", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/final_maneuver_plan" ] ),
673 ("state", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/state" ] ),
674 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
675 ],
676 parameters=[
677 stop_and_dwell_strategic_plugin_container_file_path,
678 vehicle_config_param_file
679 ]
680 ),
681 ]
682 )
683
684 intersection_transit_maneuvering_container = ComposableNodeContainer(
685 package='carma_ros2_utils',
686 name='intersection_transit_maneuvering_container',
687 executable='carma_component_container_mt',
688 namespace=GetCurrentNamespace(),
689 composable_node_descriptions=[
690 ComposableNode(
691 package='intersection_transit_maneuvering',
692 plugin='intersection_transit_maneuvering::IntersectionTransitManeuveringNode',
693 name='intersection_transit_maneuvering',
694 extra_arguments=[
695 {'use_intra_process_comms': True},
696 {'--log-level' : GetLogLevel('intersection_transit_maneuvering', env_log_levels) }
697 ],
698 remappings = [],
699 parameters=[
700 vehicle_config_param_file
701 ]
702 ),
703 ]
704 )
705
706 return LaunchDescription([
707 carma_inlanecruising_plugin_container,
708 carma_route_following_plugin_container,
709 carma_approaching_emergency_vehicle_plugin_container,
710 carma_stop_and_wait_plugin_container,
711 carma_sci_strategic_plugin_container,
712 carma_stop_and_dwell_strategic_plugin_container,
713 carma_lci_strategic_plugin_container,
714 carma_stop_controlled_intersection_tactical_plugin_container,
715 carma_cooperative_lanechange_plugins_container,
716 carma_yield_plugin_container,
717 carma_light_controlled_intersection_plugins_container,
718 carma_pure_pursuit_wrapper_container,
719 carma_trajectory_follower_wrapper_container,
720
721 platooning_tactical_plugin_container,
722 platooning_control_plugin_container,
723 intersection_transit_maneuvering_container,
724 trajectory_follower_container
725
726 ])
def generate_launch_description()
1.9.4