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feat(psim)!: change a setting parameter type from bool to string #1106

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Merged
merged 4 commits into from
Aug 14, 2024
Merged

feat(psim)!: change a setting parameter type from bool to string #1106

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35ba612
change a param type, bool to string
yuki-takagi-66 Jul 26, 2024
46b8888
change comment
yuki-takagi-66 Aug 2, 2024
93d3715
responce to the review
yuki-takagi-66 Aug 8, 2024
226f872
add param description, delete unnecessary line
yuki-takagi-66 Aug 9, 2024
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4 changes: 2 additions & 2 deletions autoware_launch/launch/components/tier4_simulator_component.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<launch>
<arg name="launch_dummy_perception"/>
<arg name="launch_dummy_vehicle"/>
<arg name="launch_dummy_localization"/>
<arg name="localization_sim_mode"/>
<arg name="launch_dummy_doors"/>
<arg name="launch_diagnostic_converter"/>
<arg name="perception/enable_detection_failure"/>
Expand All @@ -18,7 +18,7 @@
<include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
<arg name="launch_dummy_perception" value="$(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="localization_sim_mode" value="$(var localization_sim_mode)"/>
<arg name="launch_dummy_doors" value="$(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)"/>
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6 changes: 4 additions & 2 deletions autoware_launch/launch/planning_simulator.launch.xml
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Expand Up @@ -37,6 +37,8 @@
<arg name="enable_all_modules_auto_mode" default="$(var scenario_simulation)" description="enable all module's auto mode"/>
<!-- Simulated time -->
<arg name="use_sim_time" default="$(var scenario_simulation)"/>
<!-- Localization-->
<arg name="localization_sim_mode" default="api" description="select localization mode. none, api"/>
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Suggested change
<arg name="localization_sim_mode" default="api" description="select localization mode. none, api"/>
<arg name="localization_sim_mode" default="api" description="select localization mode. Options are 'none' or 'api'. 'api' starts an external API for initial position estimation. 'none' does not start any localization-related process."/>

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I've add description. 226f872


<group scoped="false">
<!-- Vehicle -->
Expand Down Expand Up @@ -81,13 +83,13 @@
<let name="launch_dummy_perception" value="true" unless="$(var scenario_simulation)"/>
<let name="launch_dummy_vehicle" value="false" if="$(var scenario_simulation)"/>
<let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
<let name="launch_dummy_localization" value="true"/>
<let name="localization_sim_mode" value="$(var localization_sim_mode)"/>
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Now that we added localization_sim_mode as arg in the in the same file, I think we can remove this let statement.

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Sorry for my poor understanding. Thank you.

<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="localization_sim_mode" value="$(var localization_sim_mode)"/>
<arg name="launch_dummy_doors" value="$(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)"/>
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