Carma-platform v4.2.0
CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication.
plugins.launch.py
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1# Copyright (C) 2022-2023 LEIDOS.
2#
3# Licensed under the Apache License, Version 2.0 (the "License");
4# you may not use this file except in compliance with the License.
5# You may obtain a copy of the License at
6#
7# http://www.apache.org/licenses/LICENSE-2.0
8#
9# Unless required by applicable law or agreed to in writing, software
10# distributed under the License is distributed on an "AS IS" BASIS,
11# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12# See the License for the specific language governing permissions and
13# limitations under the License.
14
15from ament_index_python import get_package_share_directory
16from launch.actions import Shutdown
17from launch import LaunchDescription
18from launch_ros.actions import Node
19from launch_ros.actions import ComposableNodeContainer
20from launch_ros.descriptions import ComposableNode
21from launch.substitutions import EnvironmentVariable
22from carma_ros2_utils.launch.get_log_level import GetLogLevel
23from carma_ros2_utils.launch.get_current_namespace import GetCurrentNamespace
24from launch.substitutions import LaunchConfiguration
25
26import os
27
28from launch.actions import IncludeLaunchDescription
29from launch.launch_description_sources import PythonLaunchDescriptionSource
30from launch.actions import GroupAction
31from launch_ros.actions import set_remap
32from launch.actions import DeclareLaunchArgument
33
34# Launch file for launching the nodes in the CARMA guidance stack
35
36def generate_launch_description():
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 platooning_strategic_ihp_param_file = os.path.join(
64 get_package_share_directory('platooning_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 vehicle_characteristics_param_file,
432 light_controlled_intersection_tactical_plugin_param_file
433 ]
434 ),
435 ]
436 )
437
438 carma_pure_pursuit_wrapper_container = ComposableNodeContainer(
439 package='carma_ros2_utils',
440 name='carma_pure_pursuit_wrapper_container',
441 executable='carma_component_container_mt',
442 namespace=GetCurrentNamespace(),
443 composable_node_descriptions=[
444 ComposableNode(
445 package='pure_pursuit_wrapper',
446 plugin='pure_pursuit_wrapper::PurePursuitWrapperNode',
447 name='pure_pursuit_wrapper',
448 extra_arguments=[
449 {'use_intra_process_comms': True},
450 {'--log-level' : GetLogLevel('pure_pursuit_wrapper', env_log_levels) }
451 ],
452 remappings = [
453 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
454 ("ctrl_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/ctrl_raw" ] ),
455 ("pure_pursuit_wrapper/plan_trajectory", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugins/pure_pursuit/plan_trajectory" ] ),
456 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
457 ("vehicle/twist", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
458 ],
459 parameters=[
460 vehicle_characteristics_param_file, #vehicle_response_lag
461 vehicle_config_param_file,
462 pure_pursuit_tuning_parameters
463 ]
464 ),
465 ]
466 )
467
468 trajectory_follower_container = ComposableNodeContainer(
469 package='carma_ros2_utils',
470 name='trajectory_follower_container',
471 executable='carma_component_container_mt',
472 namespace=GetCurrentNamespace(),
473 composable_node_descriptions=[
474 ComposableNode(
475 package='trajectory_follower_nodes',
476 plugin='autoware::motion::control::trajectory_follower_nodes::LatLonMuxer',
477 name='latlon_muxer_node',
478 extra_arguments=[
479 {'use_intra_process_comms': False},
480 {'--log-level' : GetLogLevel('latlon_muxer', env_log_levels) }
481 ],
482 remappings = [
483 ("input/lateral/control_cmd", "trajectory_follower/lateral/control_cmd"),
484 ("input/longitudinal/control_cmd", "trajectory_follower/longitudinal/control_cmd"),
485 ("output/control_cmd", "trajectory_follower/control_cmd")
486 ],
487 parameters=[
488 {'timeout_thr_sec':0.5}
489 ]
490 ),
491 ComposableNode(
492 package='trajectory_follower_nodes',
493 plugin='autoware::motion::control::trajectory_follower_nodes::LateralController',
494 name='lateral_controller_node',
495 extra_arguments=[
496 {'use_intra_process_comms': True},
497 {'--log-level' : GetLogLevel('lateral_controller', env_log_levels) }
498 ],
499 remappings = [
500 ("output/lateral/control_cmd", "trajectory_follower/lateral/control_cmd"),
501 ("input/current_kinematic_state", "trajectory_follower/current_kinematic_state"),
502 ("input/reference_trajectory","trajectory_follower/reference_trajectory" )
503 ],
504 parameters = [
505 [vehicle_calibration_dir, "/trajectory_follower/lateral_controller_defaults.yaml"]
506 ]
507 ),
508 ComposableNode(
509 package='trajectory_follower_nodes',
510 plugin='autoware::motion::control::trajectory_follower_nodes::LongitudinalController',
511 name='longitudinal_controller_node',
512 extra_arguments=[
513 {'use_intra_process_comms': False},
514 {'--log-level' : GetLogLevel('longitudinal_controller', env_log_levels) }
515 ],
516 remappings = [
517 ("output/longitudinal/control_cmd", "trajectory_follower/longitudinal/control_cmd"),
518 ("input/current_trajectory", "trajectory_follower/reference_trajectory"),
519 ("input/current_state", "trajectory_follower/current_kinematic_state")
520 ],
521 parameters = [
522 [vehicle_calibration_dir, "/trajectory_follower/longitudinal_controller_defaults.yaml"]
523 ]
524 )
525 ]
526 )
527 carma_trajectory_follower_wrapper_container = ComposableNodeContainer(
528 package='carma_ros2_utils',
529 name='carma_trajectory_follower_wrapper_container',
530 executable='carma_component_container_mt',
531 namespace=GetCurrentNamespace(),
532 composable_node_descriptions=[
533 ComposableNode(
534 package='trajectory_follower_wrapper',
535 plugin='trajectory_follower_wrapper::TrajectoryFollowerWrapperNode',
536 name='trajectory_follower_wrapper',
537 extra_arguments=[
538 {'use_intra_process_comms': True},
539 {'--log-level' : GetLogLevel('trajectory_follower_wrapper', env_log_levels) }
540 ],
541 remappings = [
542 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
543 ("ctrl_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/ctrl_raw" ] ),
544 ("trajectory_follower_wrapper/plan_trajectory", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugins/trajectory_follower_wrapper/plan_trajectory" ] ),
545 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
546 ("vehicle/twist", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
547 ],
548 parameters=[
549 vehicle_characteristics_param_file,
550 trajectory_follower_wrapper_param_file
551 ]
552 ),
553 ]
554 )
555
556 platooning_strategic_plugin_container = ComposableNodeContainer(
557 package='carma_ros2_utils',
558 name='platooning_strategic_plugin_container',
559 executable='carma_component_container_mt',
560 namespace=GetCurrentNamespace(),
561 composable_node_descriptions=[
562 ComposableNode(
563 package='platooning_strategic_ihp',
564 plugin='platooning_strategic_ihp::Node',
565 name='platooning_strategic_ihp_node',
566 extra_arguments=[
567 {'use_intra_process_comms': True},
568 {'--log-level' : GetLogLevel('platooning_strategic_ihp', env_log_levels) }
569 ],
570 remappings = [
571 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
572 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
573 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
574 ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] ),
575 ("outgoing_mobility_response", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_response" ] ),
576 ("outgoing_mobility_request", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_request" ] ),
577 ("outgoing_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_operation" ] ),
578 ("incoming_mobility_request", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_request" ] ),
579 ("incoming_mobility_response", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_response" ] ),
580 ("incoming_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_operation" ] ),
581 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
582 ("twist_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/twist_raw" ] ),
583 ("platoon_info", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/platoon_info" ] ),
584 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
585 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
586 ("current_velocity", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
587 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
588 ],
589 parameters=[
590 platooning_strategic_ihp_param_file,
591 vehicle_config_param_file
592 ]
593 ),
594 ]
595 )
596
597 platooning_tactical_plugin_container = ComposableNodeContainer(
598 package='carma_ros2_utils',
599 name='platooning_tactical_plugin_container',
600 executable='carma_component_container_mt',
601 namespace=GetCurrentNamespace(),
602 composable_node_descriptions=[
603 ComposableNode(
604 package='platooning_tactical_plugin',
605 plugin='platooning_tactical_plugin::Node',
606 name='platooning_tactical_plugin_node',
607 extra_arguments=[
608 {'use_intra_process_comms': True},
609 {'--log-level' : GetLogLevel('platooning_tactical_plugin', env_log_levels) }
610 ],
611 remappings = [
612 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
613 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
614 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
615 ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] ),
616 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
617 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
618 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
619 ],
620 parameters=[ platoon_tactical_ihp_param_file, vehicle_config_param_file ]
621 ),
622 ]
623 )
624
625 platooning_control_plugin_container = ComposableNodeContainer(
626 package='carma_ros2_utils',
627 name='platooning_control_container',
628 executable='carma_component_container_mt',
629 namespace=GetCurrentNamespace(),
630 composable_node_descriptions=[
631 ComposableNode(
632 package='platooning_control',
633 plugin='platooning_control::PlatooningControlPlugin',
634 name='platooning_control',
635 extra_arguments=[
636 {'use_intra_process_comms': True},
637 {'--log-level' : GetLogLevel('platooning_control_plugin', env_log_levels) }
638 ],
639 remappings = [
640 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
641 ("ctrl_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/ctrl_raw" ] ),
642 ("twist_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/twist_raw" ] ),
643 ("platooning_control/plan_trajectory", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugins/platooning_control/plan_trajectory" ] ),
644 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
645 ("vehicle/twist", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
646 ],
647 parameters=[ platooning_control_param_file, vehicle_config_param_file, unique_vehicle_calibration_params ]
648 )
649 ]
650 )
651
652 carma_stop_and_dwell_strategic_plugin_container = ComposableNodeContainer(
653 package='carma_ros2_utils',
654 name='carma_stop_and_dwell_strategic_plugin_container',
655 executable='carma_component_container_mt',
656 namespace=GetCurrentNamespace(),
657 composable_node_descriptions=[
658 ComposableNode(
659 package='stop_and_dwell_strategic_plugin',
660 plugin='stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin',
661 name='stop_and_dwell_strategic_plugin',
662 extra_arguments=[
663 {'use_intra_process_comms': True},
664 {'--log-level' : GetLogLevel('stop_and_dwell_strategic_plugin', env_log_levels) }
665 ],
666 remappings = [
667 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
668 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
669 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
670 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
671 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
672 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
673 ("maneuver_plan", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/final_maneuver_plan" ] ),
674 ("state", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/state" ] ),
675 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
676 ],
677 parameters=[
678 stop_and_dwell_strategic_plugin_container_file_path,
679 vehicle_config_param_file
680 ]
681 ),
682 ]
683 )
684
685 intersection_transit_maneuvering_container = ComposableNodeContainer(
686 package='carma_ros2_utils',
687 name='intersection_transit_maneuvering_container',
688 executable='carma_component_container_mt',
689 namespace=GetCurrentNamespace(),
690 composable_node_descriptions=[
691 ComposableNode(
692 package='intersection_transit_maneuvering',
693 plugin='intersection_transit_maneuvering::IntersectionTransitManeuveringNode',
694 name='intersection_transit_maneuvering',
695 extra_arguments=[
696 {'use_intra_process_comms': True},
697 {'--log-level' : GetLogLevel('intersection_transit_maneuvering', env_log_levels) }
698 ],
699 remappings = [],
700 parameters=[
701 vehicle_config_param_file
702 ]
703 ),
704 ]
705 )
706
707 return LaunchDescription([
708 carma_inlanecruising_plugin_container,
709 carma_route_following_plugin_container,
710 carma_approaching_emergency_vehicle_plugin_container,
711 carma_stop_and_wait_plugin_container,
712 carma_sci_strategic_plugin_container,
713 carma_stop_and_dwell_strategic_plugin_container,
714 carma_lci_strategic_plugin_container,
715 carma_stop_controlled_intersection_tactical_plugin_container,
716 carma_cooperative_lanechange_plugins_container,
717 carma_yield_plugin_container,
718 carma_light_controlled_intersection_plugins_container,
719 carma_pure_pursuit_wrapper_container,
720 carma_trajectory_follower_wrapper_container,
721 #platooning_strategic_plugin_container,
722 platooning_tactical_plugin_container,
723 platooning_control_plugin_container,
724 intersection_transit_maneuvering_container,
725 trajectory_follower_container
726
727 ])
plugins.generate_launch_description
def generate_launch_description()
Definition: plugins.launch.py:36