Move sample description/launch packages to autoware_core #1732
Description
Checklist
- I've read the contribution guidelines.
- I've searched other issues and no duplicate issues were found.
- I've agreed with the maintainers that I can plan this task.
Description
When we run the AWSIM demo with debian packages, users would have to clone autoware_launch repository to use awsim_sensor_description and sample_vehicle_description packages. However, the repository contains the autoware_launch package which has dependencies to many Autoware Universe packages that are not released from ROS Buildfarm, causing issues when running rosdep command. As a workaround, we tell the users to delete the unnecessary packages before running rosdep, but this is not a clean solution. I propose to move the sample description packages into Autoware Core and release from ROS buildfarm together with the rest of the Autoware Core packages so that users could run AWSIM demo with simpler instructions.
Purpose
Ensure that the AWSIM demo and planning simulation work only with released packages.
Possible approaches
Step 1. Move the following description packages from autoware_launch to autoware_core. They will be released on the ROS buildfarm.
- sample_vehicle_description
- sample_sensor_kit_description
- awsim_sensor_kit_description
- awsim_labs_sensor_kit_description (optional, when the dependency on autoware_universe is removed)
- carla_sensor_kit_description (optional, when the dependency on autoware_universe is removed)
As with the 3rd-party description packages, we can create a separate description repository, but for convenience, include it in autoware_core.
Step 2. Move the following launch packages from autoware_launch to autoware_core.
- sample_vehicle_launch
- sample_sensor_kit_launch
- awsim_sensor_kit_launch (optional)
- awsim_labs_sensor_kit_launch (optional)
- awsim_labs_vehicle_launch (optional)
- carla_sensor_kit_launch (optional)
To do this, we need to change arguments such as sensor_model and vehicle_model to specify the file path directly instead of the package name. Also, vehicle-dependent parameters will be changed to be obtained through interfaces such as topic and param rather than launch variables (In autoware_core, launch packages other than vehicle and sensing, such as perception, do not depend on the model, so we will keep this).
Definition of done
- Add prefixed packages
- Update documentation and related packages
- Remove non-prefixed package