rebase

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

autoware_launch/launch/components/tier4_simulator_component.launch.xml

@@ -3,6 +3,7 @@
   <arg name="launch_dummy_perception"/>
   <arg name="launch_dummy_vehicle"/>
   <arg name="launch_dummy_localization"/>
+  <arg name="launch_localization_for_sim_vehicle"/>
   <arg name="launch_dummy_doors"/>
   <arg name="launch_diagnostic_converter"/>
   <arg name="perception/enable_detection_failure"/>
@@ -19,6 +20,7 @@
     <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
     <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
     <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
+    <arg name="launch_localization_for_sim_vehicle" value="$(var launch_localization_for_sim_vehicle)"/>
     <arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
     <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
     <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
@@ -51,7 +53,10 @@
       name="object_recognition_tracking_multi_object_tracker_node_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml"
     />
+    <arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
+    <arg name="ekf_localizer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ekf_localizer.param.yaml"/>
     <arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml"/>
+    <arg name="twist2accel_param_path" value="$(find-pkg-share autoware_launch)/config/localization/twist2accel.param.yaml"/>
     <arg name="laserscan_based_occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>

autoware_launch/launch/planning_simulator.launch.xml

@@ -82,12 +82,16 @@
     <let name="launch_dummy_vehicle" value="false" if="$(var scenario_simulation)"/>
     <let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
     <let name="launch_dummy_localization" value="true"/>
+    <!-- scenario simulator does not support launch_localization_for_sim_vehicle. -->
+    <let name="launch_localization_for_sim_vehicle" value="false" if="$(var scenario_simulation)"/>
+    <let name="launch_localization_for_sim_vehicle" value="true" unless="$(var scenario_simulation)"/>
     <let name="launch_diagnostic_converter" value="$(var scenario_simulation)"/>
 
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_simulator_component.launch.xml">
       <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
       <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
       <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
+      <arg name="launch_localization_for_sim_vehicle" value="$(var launch_localization_for_sim_vehicle)"/>
       <arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
       <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
       <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>