diff --git a/carma/launch/environment.launch.py b/carma/launch/environment.launch.py index ebe84dfd35..7a70919c5f 100644 --- a/carma/launch/environment.launch.py +++ b/carma/launch/environment.launch.py @@ -41,7 +41,7 @@ def generate_launch_description(): vehicle_characteristics_param_file = LaunchConfiguration('vehicle_characteristics_param_file') declare_vehicle_characteristics_param_file_arg = DeclareLaunchArgument( - name = 'vehicle_characteristics_param_file', + name = 'vehicle_characteristics_param_file', default_value = "/opt/carma/vehicle/calibration/identifiers/UniqueVehicleParams.yaml", description = "Path to file containing unique vehicle calibrations" ) @@ -57,7 +57,7 @@ def generate_launch_description(): ray_ground_classifier_param_file = os.path.join( autoware_auto_launch_pkg_prefix, 'param/component_style/ray_ground_classifier.param.yaml') - + tracking_nodes_param_file = os.path.join( autoware_auto_launch_pkg_prefix, 'param/component_style/tracking_nodes.param.yaml') @@ -82,12 +82,12 @@ def generate_launch_description(): points_map_filter_param_file = os.path.join( get_package_share_directory('points_map_filter'), 'config/parameters.yaml') - + motion_computation_param_file = os.path.join( get_package_share_directory('motion_computation'), 'config/parameters.yaml') env_log_levels = EnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', default_value='{ "default_level" : "WARN" }') - + carma_wm_ctrl_param_file = os.path.join( get_package_share_directory('carma_wm_ctrl'), 'config/parameters.yaml') @@ -95,7 +95,7 @@ def generate_launch_description(): cp_host_vehicle_filter_node_file = str(PurePath(get_package_share_directory("carma_cooperative_perception"), "config/cp_host_vehicle_filter_node.yaml")) # lidar_perception_container contains all nodes for lidar based object perception - # a failure in any one node in the chain would invalidate the rest of it, so they can all be + # a failure in any one node in the chain would invalidate the rest of it, so they can all be # placed in the same container without reducing fault tolerance # a lifecycle wrapper container is used to ensure autoware.auto nodes adhere to the subsystem_controller's signals lidar_perception_container = ComposableNodeContainer( @@ -109,7 +109,7 @@ def generate_launch_description(): plugin='frame_transformer::Node', name='lidar_to_map_frame_transformer', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('frame_transformer', env_log_levels) }, {'is_lifecycle_node': True} # Flag to allow lifecycle node loading in lifecycle wrapper ], @@ -117,9 +117,9 @@ def generate_launch_description(): ("input", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/lidar/points_raw" ] ), ("output", "points_in_map"), ("change_state", "disabled_change_state"), # Disable lifecycle topics since this is a lifecycle wrapper container - ("get_state", "disabled_get_state") # Disable lifecycle topics since this is a lifecycle wrapper container + ("get_state", "disabled_get_state") # Disable lifecycle topics since this is a lifecycle wrapper container ], - parameters=[ + parameters=[ { "target_frame" : "map"}, { "message_type" : "sensor_msgs/PointCloud2"}, { "queue_size" : 1}, @@ -131,7 +131,7 @@ def generate_launch_description(): plugin='points_map_filter::Node', name='points_map_filter', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('points_map_filter', env_log_levels) }, {'is_lifecycle_node': True} # Flag to allow lifecycle node loading in lifecycle wrapper ], @@ -140,7 +140,7 @@ def generate_launch_description(): ("filtered_points", "map_filtered_points"), ("lanelet2_map", "semantic_map"), ("change_state", "disabled_change_state"), # Disable lifecycle topics since this is a lifecycle wrapper container - ("get_state", "disabled_get_state") # Disable lifecycle topics since this is a lifecycle wrapper container + ("get_state", "disabled_get_state") # Disable lifecycle topics since this is a lifecycle wrapper container ], parameters=[ points_map_filter_param_file ] ), @@ -149,7 +149,7 @@ def generate_launch_description(): plugin='frame_transformer::Node', name='lidar_frame_transformer', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('frame_transformer', env_log_levels) }, {'is_lifecycle_node': True} # Flag to allow lifecycle node loading in lifecycle wrapper ], @@ -157,7 +157,7 @@ def generate_launch_description(): ("input", "map_filtered_points" ), ("output", "points_in_base_link"), ("change_state", "disabled_change_state"), # Disable lifecycle topics since this is a lifecycle wrapper container - ("get_state", "disabled_get_state") # Disable lifecycle topics since this is a lifecycle wrapper container + ("get_state", "disabled_get_state") # Disable lifecycle topics since this is a lifecycle wrapper container ], parameters=[ frame_transformer_param_file ] ), @@ -166,11 +166,11 @@ def generate_launch_description(): name='ray_ground_filter', plugin='autoware::perception::filters::ray_ground_classifier_nodes::RayGroundClassifierCloudNode', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('ray_ground_classifier_nodes', env_log_levels) } ], remappings=[ - ("points_in", "points_in_base_link"), + ("points_in", "points_in_base_link"), ("points_nonground", "points_no_ground") ], parameters=[ ray_ground_classifier_param_file] @@ -180,7 +180,7 @@ def generate_launch_description(): name='euclidean_cluster', plugin='autoware::perception::segmentation::euclidean_cluster_nodes::EuclideanClusterNode', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('euclidean_cluster_nodes', env_log_levels) } ], remappings=[ @@ -193,7 +193,7 @@ def generate_launch_description(): plugin='bounding_box_to_detected_object::Node', name='bounding_box_converter', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('object_detection_tracking', env_log_levels) }, {'is_lifecycle_node': True} # Flag to allow lifecycle node loading in lifecycle wrapper ], @@ -207,13 +207,13 @@ def generate_launch_description(): plugin='autoware::tracking_nodes::MultiObjectTrackerNode', name='tracking_nodes_node', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('tracking_nodes', env_log_levels) } ], remappings=[ ("ego_state", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose_with_covariance" ] ), - # TODO note classified_rois1 is the default single camera input topic - # TODO when camera detection is added, we will wan to separate this node into a different component to preserve fault tolerance + # TODO note classified_rois1 is the default single camera input topic + # TODO when camera detection is added, we will wan to separate this node into a different component to preserve fault tolerance ], parameters=[ tracking_nodes_param_file ] ) @@ -234,7 +234,7 @@ def generate_launch_description(): plugin='carma_wm_ctrl::WMBroadcasterNode', name='carma_wm_broadcaster', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('carma_wm_ctrl', env_log_levels) } ], remappings=[ @@ -253,7 +253,7 @@ def generate_launch_description(): plugin='object::ObjectDetectionTrackingNode', name='external_object', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('object_detection_tracking', env_log_levels) } ], remappings=[ @@ -279,7 +279,7 @@ def generate_launch_description(): plugin='motion_computation::MotionComputationNode', name='motion_computation_node', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('motion_computation', env_log_levels) } ], remappings=[ @@ -289,7 +289,7 @@ def generate_launch_description(): ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] ), ("external_objects", "fused_external_objects") ], - parameters=[ + parameters=[ motion_computation_param_file, ] ), @@ -298,19 +298,19 @@ def generate_launch_description(): plugin='motion_prediction_visualizer::Node', name='motion_prediction_visualizer', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('motion_prediction_visualizer', env_log_levels) } ], remappings=[ ("external_objects", "external_object_predictions" ), ] ), - ComposableNode( + ComposableNode( package='roadway_objects', plugin='roadway_objects::RoadwayObjectsNode', name='roadway_objects_node', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('roadway_objects', env_log_levels) } ], remappings=[ @@ -321,14 +321,14 @@ def generate_launch_description(): parameters = [ vehicle_config_param_file ] - + ), - ComposableNode( + ComposableNode( package='traffic_incident_parser', plugin='traffic_incident_parser::TrafficIncidentParserNode', name='traffic_incident_parser_node', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('traffic_incident_parser', env_log_levels) } ], remappings=[ @@ -341,7 +341,7 @@ def generate_launch_description(): parameters = [ vehicle_config_param_file ] - + ), ] ) @@ -358,16 +358,16 @@ def generate_launch_description(): plugin='lanelet2_map_loader::Lanelet2MapLoader', name='lanelet2_map_loader', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('lanelet2_map_loader', env_log_levels) }, {'is_lifecycle_node': True} # Flag to allow lifecycle node loading in lifecycle wrapper ], remappings=[ ("lanelet_map_bin", "base_map"), ("change_state", "disabled_change_state"), # Disable lifecycle topics since this is a lifecycle wrapper container - ("get_state", "disabled_get_state") # Disable lifecycle topics since this is a lifecycle wrapper container + ("get_state", "disabled_get_state") # Disable lifecycle topics since this is a lifecycle wrapper container ], - parameters=[ + parameters=[ { "lanelet2_filename" : vector_map_file} ] ) @@ -387,16 +387,16 @@ def generate_launch_description(): plugin='lanelet2_map_visualization::Lanelet2MapVisualization', name='lanelet2_map_visualization', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('lanelet2_map_visualization', env_log_levels) }, {'is_lifecycle_node': True} # Flag to allow lifecycle node loading in lifecycle wrapper ], remappings=[ ("lanelet_map_bin", "semantic_map"), ("change_state", "disabled_change_state"), # Disable lifecycle topics since this is a lifecycle wrapper container - ("get_state", "disabled_get_state") # Disable lifecycle topics since this is a lifecycle wrapper container + ("get_state", "disabled_get_state") # Disable lifecycle topics since this is a lifecycle wrapper container ], - parameters=[ + parameters=[ ] ) @@ -415,7 +415,7 @@ def generate_launch_description(): plugin='carma_cooperative_perception::ExternalObjectListToDetectionListNode', name='cp_external_object_list_to_detection_list_node', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('cp_external_object_list_to_detection_list_node', env_log_levels) }, ], remappings=[ @@ -423,7 +423,7 @@ def generate_launch_description(): ("output/detections", "full_detection_list"), ("input/external_objects", "external_objects"), ], - parameters=[ + parameters=[ ] ), ComposableNode( @@ -431,7 +431,7 @@ def generate_launch_description(): plugin='carma_cooperative_perception::ExternalObjectListToSdsmNode', name='cp_external_object_list_to_sdsm_node', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('cp_external_object_list_to_sdsm_node', env_log_levels) }, ], remappings=[ @@ -440,7 +440,7 @@ def generate_launch_description(): ("input/pose_stamped", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ), ("input/external_objects", "external_objects"), ], - parameters=[ + parameters=[ ] ), ComposableNode( @@ -448,7 +448,7 @@ def generate_launch_description(): plugin='carma_cooperative_perception::HostVehicleFilterNode', name='cp_host_vehicle_filter_node', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('cp_host_vehicle_filter_node', env_log_levels) }, ], remappings=[ @@ -456,7 +456,7 @@ def generate_launch_description(): ("input/detection_list", "full_detection_list"), ("output/detection_list", "filtered_detection_list") ], - parameters=[ + parameters=[ cp_host_vehicle_filter_node_file ] ), @@ -465,14 +465,14 @@ def generate_launch_description(): plugin='carma_cooperative_perception::SdsmToDetectionListNode', name='cp_sdsm_to_detection_list_node', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('cp_sdsm_to_detection_list_node', env_log_levels) }, ], remappings=[ ("input/sdsm", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_sdsm" ] ), ("output/detections", "full_detection_list"), ], - parameters=[ + parameters=[ ] ), ComposableNode( @@ -480,14 +480,14 @@ def generate_launch_description(): plugin='carma_cooperative_perception::TrackListToExternalObjectListNode', name='cp_track_list_to_external_object_list_node', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('cp_track_list_to_external_object_list_node', env_log_levels) }, ], remappings=[ ("input/track_list", "cooperative_perception_track_list"), ("output/external_object_list", "fused_external_objects"), ], - parameters=[ + parameters=[ ] ), ComposableNode( @@ -495,14 +495,14 @@ def generate_launch_description(): plugin='carma_cooperative_perception::MultipleObjectTrackerNode', name='cp_multiple_object_tracker_node', extra_arguments=[ - {'use_intra_process_comms': True}, + {'use_intra_process_comms': True}, {'--log-level' : GetLogLevel('cp_multiple_object_tracker_node', env_log_levels) }, ], remappings=[ ("output/track_list", "cooperative_perception_track_list"), ("input/detection_list", "filtered_detection_list"), ], - parameters=[ + parameters=[ cp_multiple_object_tracker_node_file ] ),