Separate flags for launching rviz and rviz adaptor nodes

[akorb]

Since this PR (autowarefoundation/autoware_launch#70), the nodes forwarding the rviz pulibcations of setting the initial pose and goal are only launched if rviz:=true. However, we commonly set rviz:=false, and launch rviz on another machine to set the pose and goal from there. This workflow is not possible anymore after this new change, since the remotely launched rviz will send messages, but they are not forwarded to the new AD API of autoware.

As a workaround, we can leave rviz:=true and it still works with rviz simply crashing on the local machine, but that doesn't seem like a clean solution to me.

[isamu-takagi]

Thank you for the comment. I'll move it to autoware_api_launch and add a dedicated launch flag.

[isamu-takagi]

@akorb I created a PR. Does this resolve it?

• feat: move adapi rviz adaptor  autoware.universe#1900
• feat: move adapi rviz adaptor  autoware_launch#88

[akorb]

@isamu-takagi Thank you very much! Wouldn't it make sense to forward launch_default_ad_api and launch_rviz_adaptors from autoware.launch.xml to autoware_api.launch.xml? 🤔

[isamu-takagi]

Wouldn't it make sense to forward launch_default_ad_api and launch_rviz_adaptors from autoware.launch.xml to autoware_api.launch.xml?

Does this mean you want to specify launch flags like below? If so, this already works, as the arguments are reflected in the included files as well. (This depends on the forwarding attribute of the group tag.)

ros2 launch autoware.launch.xml launch_default_ad_api:=true launch_rviz_adaptors:=false`

[akorb]

Ah I see, thanks! That's what I meant. Then it looks like exactly what we need 👍