Carma-platform v4.10.0
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 vehicle_config_dir = LaunchConfiguration('vehicle_config_dir')
49 declare_vehicle_config_dir_arg = DeclareLaunchArgument(
50 name = 'vehicle_config_dir',
51 default_value = "/opt/carma/vehicle/config",
52 description = "Path to vehicle configuration directory populated by carma-config"
53 )
54
55 # Declare the global_params_override_file launch argument
56 # Parameters in this file will override any parameters loaded in their respective packages
57 global_params_override_file = LaunchConfiguration('global_params_override_file')
58 declare_global_params_override_file_arg = DeclareLaunchArgument(
59 name = 'global_params_override_file',
60 default_value = [vehicle_config_dir, "/GlobalParamsOverride.yaml"],
61 description = "Path to global file containing the parameters overwrite"
62 )
63
64 inlanecruising_plugin_file_path = os.path.join(
65 get_package_share_directory('inlanecruising_plugin'), 'config/parameters.yaml')
66
67 route_following_plugin_file_path = os.path.join(
68 get_package_share_directory('route_following_plugin'), 'config/parameters.yaml')
69
70 stop_and_wait_plugin_param_file = os.path.join(
71 get_package_share_directory('stop_and_wait_plugin'), 'config/parameters.yaml')
72
73 light_controlled_intersection_tactical_plugin_param_file = os.path.join(
74 get_package_share_directory('light_controlled_intersection_tactical_plugin'), 'config/parameters.yaml')
75
76 cooperative_lanechange_param_file = os.path.join(
77 get_package_share_directory('cooperative_lanechange'), 'config/parameters.yaml')
78
79 platooning_strategic_ihp_param_file = os.path.join(
80 get_package_share_directory('platooning_strategic_ihp'), 'config/parameters.yaml')
81
82 sci_strategic_plugin_file_path = os.path.join(
83 get_package_share_directory('sci_strategic_plugin'), 'config/parameters.yaml')
84
85 lci_strategic_plugin_file_path = os.path.join(
86 get_package_share_directory('lci_strategic_plugin'), 'config/parameters.yaml')
87
88 stop_and_dwell_strategic_plugin_container_file_path = os.path.join(
89 get_package_share_directory('stop_and_dwell_strategic_plugin'), 'config/parameters.yaml')
90
91 yield_plugin_file_path = os.path.join(
92 get_package_share_directory('yield_plugin'), 'config/parameters.yaml')
93
94 platoon_tactical_ihp_param_file = os.path.join(
95 get_package_share_directory('platooning_tactical_plugin'), 'config/parameters.yaml')
96
97 approaching_emergency_vehicle_plugin_param_file = os.path.join(
98 get_package_share_directory('approaching_emergency_vehicle_plugin'), 'config/parameters.yaml')
99
100 stop_controlled_intersection_tactical_plugin_file_path = os.path.join(
101 get_package_share_directory('stop_controlled_intersection_tactical_plugin'), 'config/parameters.yaml')
102
103 trajectory_follower_wrapper_param_file = os.path.join(
104 get_package_share_directory('trajectory_follower_wrapper'), 'config/parameters.yaml')
105
106 env_log_levels = EnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', default_value='{ "default_level" : "WARN" }')
107
108 pure_pursuit_tuning_parameters = [vehicle_calibration_dir, "/pure_pursuit/calibration.yaml"]
109
110 unique_vehicle_calibration_params = [vehicle_calibration_dir, "/identifiers/UniqueVehicleParams.yaml"]
111
112 platooning_control_param_file = os.path.join(
113 get_package_share_directory('platooning_control'), 'config/parameters.yaml')
114
115 carma_inlanecruising_plugin_container = ComposableNodeContainer(
116 package='carma_ros2_utils',
117 name='carma_lainlanecruising_plugin_container',
118 executable='carma_component_container_mt',
119 namespace=GetCurrentNamespace(),
120 composable_node_descriptions=[
121 ComposableNode(
122 package='inlanecruising_plugin',
123 plugin='inlanecruising_plugin::InLaneCruisingPluginNode',
124 name='inlanecruising_plugin',
125 extra_arguments=[
126 {'use_intra_process_comms': True},
127 {'--log-level' : GetLogLevel('inlanecruising_plugin', env_log_levels) }
128 ],
129 remappings = [
130 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
131 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
132 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
133 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
134 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
135 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
136 ],
137 parameters=[
138 inlanecruising_plugin_file_path,
139 vehicle_config_param_file,
140 global_params_override_file
141 ]
142 ),
143 ]
144 )
145
146 carma_route_following_plugin_container = ComposableNodeContainer(
147 package='carma_ros2_utils',
148 name='carma_route_following_plugin_container',
149 executable='carma_component_container_mt',
150 namespace=GetCurrentNamespace(),
151 composable_node_descriptions=[
152
153 ComposableNode(
154 package='route_following_plugin',
155 plugin='route_following_plugin::RouteFollowingPlugin',
156 name='route_following_plugin',
157 extra_arguments=[
158 {'use_intra_process_comms': True},
159 {'--log-level' : GetLogLevel('route_following_plugin', env_log_levels) }
160 ],
161 remappings = [
162 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
163 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
164 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
165 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
166 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
167 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
168 ("current_velocity", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
169 ("maneuver_plan", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/final_maneuver_plan" ] ),
170 ],
171 parameters=[
172 route_following_plugin_file_path,
173 vehicle_config_param_file,
174 global_params_override_file
175 ]
176 ),
177 ]
178 )
179
180 carma_approaching_emergency_vehicle_plugin_container = ComposableNodeContainer(
181 package='carma_ros2_utils',
182 name='carma_approaching_emergency_vehicle_plugin_container',
183 executable='carma_component_container_mt',
184 namespace=GetCurrentNamespace(),
185 composable_node_descriptions=[
186
187 ComposableNode(
188 package='approaching_emergency_vehicle_plugin',
189 plugin='approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin',
190 name='approaching_emergency_vehicle_plugin',
191 extra_arguments=[
192 {'use_intra_process_comms': True},
193 {'--log-level' : GetLogLevel('approaching_emergency_vehicle_plugin', env_log_levels) }
194 ],
195 remappings = [
196 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
197 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
198 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
199 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
200 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
201 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
202 ("state", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/state" ] ),
203 ("approaching_erv_status", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/approaching_erv_status" ] ),
204 ("hazard_light_status", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/hazard_light_status" ] ),
205 ("current_velocity", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
206 ("incoming_bsm", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_bsm" ] ),
207 ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] ),
208 ("route_state", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route_state" ] ),
209 ("outgoing_emergency_vehicle_response", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_emergency_vehicle_response" ] ),
210 ("incoming_emergency_vehicle_ack", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_emergency_vehicle_ack" ])
211 ],
212 parameters=[
213 approaching_emergency_vehicle_plugin_param_file,
214 vehicle_characteristics_param_file,
215 vehicle_config_param_file,
216 global_params_override_file
217 ]
218 ),
219 ]
220 )
221
222 carma_stop_and_wait_plugin_container = ComposableNodeContainer(
223 package='carma_ros2_utils',
224 name='carma_stop_and_wait_plugin_container',
225 executable='carma_component_container_mt',
226 namespace=GetCurrentNamespace(),
227 composable_node_descriptions=[
228
229 ComposableNode(
230 package='stop_and_wait_plugin',
231 plugin='stop_and_wait_plugin::StopandWaitNode',
232 name='stop_and_wait_plugin',
233 extra_arguments=[
234 {'use_intra_process_comms': True},
235 {'--log-level' : GetLogLevel('stop_and_wait_plugin', env_log_levels) }
236 ],
237 remappings = [
238 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
239 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
240 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
241 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
242 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
243 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
244 ],
245 parameters=[
246 stop_and_wait_plugin_param_file,
247 vehicle_config_param_file,
248 global_params_override_file
249 ]
250 ),
251 ]
252 )
253
254 carma_sci_strategic_plugin_container = ComposableNodeContainer(
255 package='carma_ros2_utils',
256 name='carma_sci_strategic_plugin_container',
257 executable='carma_component_container_mt',
258 namespace=GetCurrentNamespace(),
259 composable_node_descriptions=[
260 ComposableNode(
261 package='sci_strategic_plugin',
262 plugin='sci_strategic_plugin::SCIStrategicPlugin',
263 name='sci_strategic_plugin',
264 extra_arguments=[
265 {'use_intra_process_comms': True},
266 {'--log-level' : GetLogLevel('sci_strategic_plugin', env_log_levels) }
267 ],
268 remappings = [
269 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
270 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
271 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
272 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
273 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
274 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
275 ("maneuver_plan", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/final_maneuver_plan" ] ),
276 ("outgoing_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_operation" ] ),
277 ("incoming_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_operation" ] ),
278 ("bsm_outbound", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/bsm_outbound" ] ),
279 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
280 ],
281 parameters=[
282 sci_strategic_plugin_file_path,
283 vehicle_config_param_file,
284 global_params_override_file
285 ]
286 ),
287 ]
288 )
289
290 carma_lci_strategic_plugin_container = ComposableNodeContainer(
291 package='carma_ros2_utils',
292 name='carma_lci_strategic_plugin_container',
293 executable='carma_component_container_mt',
294 namespace=GetCurrentNamespace(),
295 composable_node_descriptions=[
296 ComposableNode(
297 package='lci_strategic_plugin',
298 plugin='lci_strategic_plugin::LCIStrategicPlugin',
299 name='lci_strategic_plugin',
300 extra_arguments=[
301 {'use_intra_process_comms': True},
302 {'--log-level' : GetLogLevel('lci_strategic_plugin', env_log_levels) }
303 ],
304 remappings = [
305 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
306 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
307 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
308 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
309 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
310 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
311 ("maneuver_plan", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/final_maneuver_plan" ] ),
312 ("outgoing_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_operation" ] ),
313 ("incoming_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_operation" ] ),
314 ("bsm_outbound", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/bsm_outbound" ] ),
315 ],
316 parameters=[
317 lci_strategic_plugin_file_path,
318 vehicle_config_param_file,
319 unique_vehicle_calibration_params,
320 global_params_override_file
321 ]
322 ),
323 ]
324 )
325
326 carma_stop_controlled_intersection_tactical_plugin_container = ComposableNodeContainer(
327 package='carma_ros2_utils',
328 name='carma_stop_controlled_intersection_tactical_plugin_container',
329 executable='carma_component_container_mt',
330 namespace=GetCurrentNamespace(),
331 composable_node_descriptions=[
332 ComposableNode(
333 package='stop_controlled_intersection_tactical_plugin',
334 plugin='stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin',
335 name='stop_controlled_intersection_tactical_plugin',
336 extra_arguments=[
337 {'use_intra_process_comms': True},
338 {'--log-level' : GetLogLevel('stop_controlled_intersection_tactical_plugin', env_log_levels) }
339 ],
340 remappings = [
341 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
342 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
343 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
344 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
345 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
346 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] )
347 ],
348 parameters=[
349 stop_controlled_intersection_tactical_plugin_file_path,
350 vehicle_config_param_file,
351 global_params_override_file
352 ]
353 ),
354 ]
355 )
356
357 carma_cooperative_lanechange_plugins_container = ComposableNodeContainer(
358 package='carma_ros2_utils',
359 name='carma_cooperative_lanechange_plugins_container',
360 executable='carma_component_container_mt',
361 namespace=GetCurrentNamespace(),
362 composable_node_descriptions=[
363 ComposableNode(
364 package='cooperative_lanechange',
365 plugin='cooperative_lanechange::CooperativeLaneChangePlugin',
366 name='cooperative_lanechange',
367 extra_arguments=[
368 {'use_intra_process_comms': True},
369 {'--log-level' : GetLogLevel('cooperative_lanechange', env_log_levels) }
370 ],
371 remappings = [
372 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
373 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
374 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
375 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
376 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
377 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
378 ("current_velocity", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
379 ("cooperative_lane_change_status", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/cooperative_lane_change_status" ] ),
380 ("bsm_outbound", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/bsm_outbound" ] ),
381 ("outgoing_mobility_request", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_request" ] ),
382 ("incoming_mobility_response", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_response" ] ),
383 ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] ),
384 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] )
385 ],
386 parameters=[
387 cooperative_lanechange_param_file,
388 vehicle_characteristics_param_file,
389 vehicle_config_param_file,
390 global_params_override_file
391 ]
392 ),
393 ]
394 )
395
396 carma_yield_plugin_container = ComposableNodeContainer(
397 package='carma_ros2_utils',
398 name='carma_yield_plugin_container',
399 executable='carma_component_container_mt',
400 namespace=GetCurrentNamespace(),
401 composable_node_descriptions=[
402 ComposableNode(
403 package='yield_plugin',
404 plugin='yield_plugin::YieldPluginNode',
405 name='yield_plugin',
406 extra_arguments=[
407 {'use_intra_process_comms': True},
408 {'--log-level' : GetLogLevel('yield_plugin', env_log_levels) }
409 ],
410 remappings = [
411 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
412 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
413 ("external_object_predictions", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/external_object_predictions" ] ),
414 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
415 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
416 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
417 ("outgoing_mobility_response", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_response" ] ),
418 ("incoming_mobility_request", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_request" ] ),
419 ("cooperative_lane_change_status", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/cooperative_lane_change_status" ] ),
420 ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference"]),
421 ("bsm_outbound", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/bsm_outbound" ] ),
422 ],
423 parameters=[
424 yield_plugin_file_path,
425 vehicle_config_param_file,
426 global_params_override_file
427 ]
428 ),
429 ]
430 )
431
432 carma_light_controlled_intersection_plugins_container = ComposableNodeContainer(
433 package='carma_ros2_utils',
434 name='carma_light_controlled_intersection_plugins_container',
435 executable='carma_component_container_mt',
436 namespace=GetCurrentNamespace(),
437 composable_node_descriptions=[
438 ComposableNode(
439 package='light_controlled_intersection_tactical_plugin',
440 plugin='light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode',
441 name='light_controlled_intersection_tactical_plugin',
442 extra_arguments=[
443 {'use_intra_process_comms': True},
444 {'--log-level' : GetLogLevel('light_controlled_intersection_tactical_plugin', env_log_levels) }
445 ],
446 remappings = [
447 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
448 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
449 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
450 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
451 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
452 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] )
453 ],
454 parameters=[
455 vehicle_config_param_file,
456 vehicle_characteristics_param_file,
457 light_controlled_intersection_tactical_plugin_param_file,
458 global_params_override_file
459 ]
460 ),
461 ]
462 )
463
464 carma_pure_pursuit_wrapper_container = ComposableNodeContainer(
465 package='carma_ros2_utils',
466 name='carma_pure_pursuit_wrapper_container',
467 executable='carma_component_container_mt',
468 namespace=GetCurrentNamespace(),
469 composable_node_descriptions=[
470 ComposableNode(
471 package='pure_pursuit_wrapper',
472 plugin='pure_pursuit_wrapper::PurePursuitWrapperNode',
473 name='pure_pursuit_wrapper',
474 extra_arguments=[
475 {'use_intra_process_comms': True},
476 {'--log-level' : GetLogLevel('pure_pursuit_wrapper', env_log_levels) }
477 ],
478 remappings = [
479 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
480 ("ctrl_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/ctrl_raw" ] ),
481 ("pure_pursuit_wrapper/plan_trajectory", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugins/pure_pursuit/plan_trajectory" ] ),
482 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
483 ("vehicle/twist", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
484 ],
485 parameters=[
486 vehicle_characteristics_param_file, #vehicle_response_lag
487 vehicle_config_param_file,
488 pure_pursuit_tuning_parameters,
489 global_params_override_file
490 ]
491 ),
492 ]
493 )
494
495 trajectory_follower_container = ComposableNodeContainer(
496 package='carma_ros2_utils',
497 name='trajectory_follower_container',
498 executable='carma_component_container_mt',
499 namespace=GetCurrentNamespace(),
500 composable_node_descriptions=[
501 ComposableNode(
502 package='trajectory_follower_nodes',
503 plugin='autoware::motion::control::trajectory_follower_nodes::LatLonMuxer',
504 name='latlon_muxer_node',
505 extra_arguments=[
506 {'use_intra_process_comms': False},
507 {'--log-level' : GetLogLevel('latlon_muxer', env_log_levels) }
508 ],
509 remappings = [
510 ("input/lateral/control_cmd", "trajectory_follower/lateral/control_cmd"),
511 ("input/longitudinal/control_cmd", "trajectory_follower/longitudinal/control_cmd"),
512 ("output/control_cmd", "trajectory_follower/control_cmd")
513 ],
514 parameters=[
515 {'timeout_thr_sec':0.5},
516 global_params_override_file
517 ]
518 ),
519 ComposableNode(
520 package='trajectory_follower_nodes',
521 plugin='autoware::motion::control::trajectory_follower_nodes::LateralController',
522 name='lateral_controller_node',
523 extra_arguments=[
524 {'use_intra_process_comms': True},
525 {'--log-level' : GetLogLevel('lateral_controller', env_log_levels) }
526 ],
527 remappings = [
528 ("output/lateral/control_cmd", "trajectory_follower/lateral/control_cmd"),
529 ("input/current_kinematic_state", "trajectory_follower/current_kinematic_state"),
530 ("input/reference_trajectory","trajectory_follower/reference_trajectory" )
531 ],
532 parameters = [
533 [vehicle_calibration_dir,
534 "/trajectory_follower/lateral_controller_defaults.yaml"],
535 global_params_override_file
536 ]
537 ),
538 ComposableNode(
539 package='trajectory_follower_nodes',
540 plugin='autoware::motion::control::trajectory_follower_nodes::LongitudinalController',
541 name='longitudinal_controller_node',
542 extra_arguments=[
543 {'use_intra_process_comms': False},
544 {'--log-level' : GetLogLevel('longitudinal_controller', env_log_levels) }
545 ],
546 remappings = [
547 ("output/longitudinal/control_cmd", "trajectory_follower/longitudinal/control_cmd"),
548 ("input/current_trajectory", "trajectory_follower/reference_trajectory"),
549 ("input/current_state", "trajectory_follower/current_kinematic_state")
550 ],
551 parameters = [
552 [vehicle_calibration_dir,
553 "/trajectory_follower/longitudinal_controller_defaults.yaml"],
554 global_params_override_file
555 ]
556 )
557 ]
558 )
559 carma_trajectory_follower_wrapper_container = ComposableNodeContainer(
560 package='carma_ros2_utils',
561 name='carma_trajectory_follower_wrapper_container',
562 executable='carma_component_container_mt',
563 namespace=GetCurrentNamespace(),
564 composable_node_descriptions=[
565 ComposableNode(
566 package='trajectory_follower_wrapper',
567 plugin='trajectory_follower_wrapper::TrajectoryFollowerWrapperNode',
568 name='trajectory_follower_wrapper',
569 extra_arguments=[
570 {'use_intra_process_comms': True},
571 {'--log-level' : GetLogLevel('trajectory_follower_wrapper', env_log_levels) }
572 ],
573 remappings = [
574 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
575 ("ctrl_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/ctrl_raw" ] ),
576 ("trajectory_follower_wrapper/plan_trajectory", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugins/trajectory_follower_wrapper/plan_trajectory" ] ),
577 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
578 ("vehicle/twist", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
579 ],
580 parameters=[
581 vehicle_characteristics_param_file,
582 trajectory_follower_wrapper_param_file,
583 global_params_override_file
584 ]
585 ),
586 ]
587 )
588
589 platooning_strategic_plugin_container = ComposableNodeContainer(
590 package='carma_ros2_utils',
591 name='platooning_strategic_plugin_container',
592 executable='carma_component_container_mt',
593 namespace=GetCurrentNamespace(),
594 composable_node_descriptions=[
595 ComposableNode(
596 package='platooning_strategic_ihp',
597 plugin='platooning_strategic_ihp::Node',
598 name='platooning_strategic_ihp_node',
599 extra_arguments=[
600 {'use_intra_process_comms': True},
601 {'--log-level' : GetLogLevel('platooning_strategic_ihp', env_log_levels) }
602 ],
603 remappings = [
604 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
605 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
606 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
607 ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] ),
608 ("outgoing_mobility_response", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_response" ] ),
609 ("outgoing_mobility_request", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_request" ] ),
610 ("outgoing_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_mobility_operation" ] ),
611 ("incoming_mobility_request", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_request" ] ),
612 ("incoming_mobility_response", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_response" ] ),
613 ("incoming_mobility_operation", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_operation" ] ),
614 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
615 ("twist_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/twist_raw" ] ),
616 ("platoon_info", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/platoon_info" ] ),
617 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
618 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
619 ("current_velocity", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
620 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
621 ],
622 parameters=[
623 platooning_strategic_ihp_param_file,
624 vehicle_config_param_file,
625 global_params_override_file
626 ]
627 ),
628 ]
629 )
630
631 platooning_tactical_plugin_container = ComposableNodeContainer(
632 package='carma_ros2_utils',
633 name='platooning_tactical_plugin_container',
634 executable='carma_component_container_mt',
635 namespace=GetCurrentNamespace(),
636 composable_node_descriptions=[
637 ComposableNode(
638 package='platooning_tactical_plugin',
639 plugin='platooning_tactical_plugin::Node',
640 name='platooning_tactical_plugin_node',
641 extra_arguments=[
642 {'use_intra_process_comms': True},
643 {'--log-level' : GetLogLevel('platooning_tactical_plugin', env_log_levels) }
644 ],
645 remappings = [
646 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
647 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
648 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
649 ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] ),
650 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
651 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
652 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
653 ],
654 parameters=[platoon_tactical_ihp_param_file,
655 vehicle_config_param_file,
656 global_params_override_file]
657 ),
658 ]
659 )
660
661 platooning_control_plugin_container = ComposableNodeContainer(
662 package='carma_ros2_utils',
663 name='platooning_control_container',
664 executable='carma_component_container_mt',
665 namespace=GetCurrentNamespace(),
666 composable_node_descriptions=[
667 ComposableNode(
668 package='platooning_control',
669 plugin='platooning_control::PlatooningControlPlugin',
670 name='platooning_control',
671 extra_arguments=[
672 {'use_intra_process_comms': True},
673 {'--log-level' : GetLogLevel('platooning_control_plugin', env_log_levels) }
674 ],
675 remappings = [
676 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
677 ("ctrl_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/ctrl_raw" ] ),
678 ("twist_raw", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/twist_raw" ] ),
679 ("platooning_control/plan_trajectory", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugins/platooning_control/plan_trajectory" ] ),
680 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
681 ("vehicle/twist", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/vehicle/twist" ] ),
682 ],
683 parameters=[ platooning_control_param_file,
684 vehicle_config_param_file,
685 unique_vehicle_calibration_params,
686 global_params_override_file]
687 )
688 ]
689 )
690
691 carma_stop_and_dwell_strategic_plugin_container = ComposableNodeContainer(
692 package='carma_ros2_utils',
693 name='carma_stop_and_dwell_strategic_plugin_container',
694 executable='carma_component_container_mt',
695 namespace=GetCurrentNamespace(),
696 composable_node_descriptions=[
697 ComposableNode(
698 package='stop_and_dwell_strategic_plugin',
699 plugin='stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin',
700 name='stop_and_dwell_strategic_plugin',
701 extra_arguments=[
702 {'use_intra_process_comms': True},
703 {'--log-level' : GetLogLevel('stop_and_dwell_strategic_plugin', env_log_levels) }
704 ],
705 remappings = [
706 ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
707 ("map_update", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/map_update" ] ),
708 ("roadway_objects", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/roadway_objects" ] ),
709 ("incoming_spat", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_spat" ] ),
710 ("plugin_discovery", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plugin_discovery" ] ),
711 ("route", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/route" ] ),
712 ("maneuver_plan", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/final_maneuver_plan" ] ),
713 ("state", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/state" ] ),
714 ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
715 ],
716 parameters=[
717 stop_and_dwell_strategic_plugin_container_file_path,
718 vehicle_config_param_file,
719 global_params_override_file
720 ]
721 ),
722 ]
723 )
724
725 intersection_transit_maneuvering_container = ComposableNodeContainer(
726 package='carma_ros2_utils',
727 name='intersection_transit_maneuvering_container',
728 executable='carma_component_container_mt',
729 namespace=GetCurrentNamespace(),
730 composable_node_descriptions=[
731 ComposableNode(
732 package='intersection_transit_maneuvering',
733 plugin='intersection_transit_maneuvering::IntersectionTransitManeuveringNode',
734 name='intersection_transit_maneuvering',
735 extra_arguments=[
736 {'use_intra_process_comms': True},
737 {'--log-level' : GetLogLevel('intersection_transit_maneuvering', env_log_levels) }
738 ],
739 remappings = [],
740 parameters=[
741 vehicle_config_param_file,
742 global_params_override_file
743 ]
744 ),
745 ]
746 )
747
748 return LaunchDescription([
749 declare_vehicle_config_dir_arg,
750 declare_global_params_override_file_arg,
751 carma_inlanecruising_plugin_container,
752 carma_route_following_plugin_container,
753 carma_approaching_emergency_vehicle_plugin_container,
754 carma_stop_and_wait_plugin_container,
755 carma_sci_strategic_plugin_container,
756 carma_stop_and_dwell_strategic_plugin_container,
757 carma_lci_strategic_plugin_container,
758 carma_stop_controlled_intersection_tactical_plugin_container,
759 carma_cooperative_lanechange_plugins_container,
760 carma_yield_plugin_container,
761 carma_light_controlled_intersection_plugins_container,
762 carma_pure_pursuit_wrapper_container,
763 carma_trajectory_follower_wrapper_container,
764 #platooning_strategic_plugin_container,
765 platooning_tactical_plugin_container,
766 platooning_control_plugin_container,
767 intersection_transit_maneuvering_container,
768 trajectory_follower_container
769
770 ])
plugins.generate_launch_description
def generate_launch_description()
Definition: plugins.launch.py:36