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Autoware.Auto
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This is the design document for the autoware_auto_launch package.
Parts of the AutowareAuto stack could be split into different pipelines allowing for modularity and component reuse between different ODDs and use-cases.
The launch files will be split into 8 different pipelines:
The launch files launches nodes with the same configuration as in the AVP demo, therefore, launching all these launch files executes the AVP demo.
The package splits the launching the AutowareAuto stack into smaller pipelines. For simplicity, the launch files don't allow for internal input/output topic configuration. If this behaviour is desired then a bespoke launch file should be created for this purpose or any external nodes should have their topics remapped.
In each launch file, parameter files for nodes which require parameters are exposed as arguments. The default for these parameter files are located in the autoware_auto_launch package under param. In addition to parameter files, nodes which can be conditionally launched have been exposed as arguments with_rviz and with_obstacles.