Merge pull request #700 from tier4/feat/debug_rviz

feat(rviz): add debug rviz
tier4 · Dec 2, 2024 · dc1a3d4 · dc1a3d4
2 parents 0015a00 + bb047f4
commit dc1a3d4
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Showing 6 changed files with 13,673 additions and 3 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -39,7 +39,8 @@
   <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml" description="diagnostic graph config"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
-  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)" description="rviz config path"/>
   <arg name="rviz_respawn" default="true"/>
   <!-- Perception -->
   <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -36,7 +36,8 @@
   <arg name="launch_sensing_driver" default="false"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
-  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)" description="rviz config path"/>
   <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
     <include file="$(find-pkg-share autoware_carla_interface)/autoware_carla_interface.launch.xml"/>
   </group>

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -28,7 +28,8 @@
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
-  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)" description="rviz config path"/>
   <let name="rviz_respawn" value="false" if="$(var scenario_simulation)"/>
   <let name="rviz_respawn" value="true" unless="$(var scenario_simulation)"/>
   <!-- Vcu emulation -->