adore_if_carla/carla_bridge_example.py at ros2 · eclipse-adore/adore_if_carla · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
# ********************************************************************************
# Copyright (c) 2025 Contributors to the Eclipse Foundation
#
# See the NOTICE file(s) distributed with this work for additional
# information regarding copyright ownership.
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License 2.0 which is available at
# https://www.eclipse.org/legal/epl-2.0
#
# SPDX-License-Identifier: EPL-2.0
# ********************************************************************************
import os

from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
    return LaunchDescription([
        Node(
            package='foxglove_bridge',
            namespace='global',
            executable='foxglove_bridge',
            name='foxglove_bridge',
            parameters=[
                {'port': 8765},
            ],
        ),
        Node(
            package='visualizer',
            namespace='ego_vehicle',
            executable='visualizer',
            name='visualizer',
            parameters=[
                {'asset folder': os.path.abspath('../assets/maps/')}
            ]
        ),
        Node(
            package='decision_maker',
            namespace='ego_vehicle',
            executable='decision_maker',
            name='decision_maker',
            parameters=[
                {'debug_mode_active': False},
                # 0 for Lane following, 1 for OptiNLC route following
                {'optinlc_route_following': True},
                {'planner_settings_keys': ['wheel_base',
                                           'lateral_weight',
                                           'heading_weight',
                                           'maximum_velocity',
                                           'min_distance_to_vehicle_ahead',
                                           'look_ahead_for_curvature',
                                           'look_behind_for_curvature']},
                {'planner_settings_values': [2.7,
                                             0.2,
                                             0.02,
                                             5.0,
                                             10.0,
                                             40.0,
                                             20.0]}
            ],
        ),
        Node(
            package='mission_control',
            namespace='ego_vehicle',
            executable='mission_control',
            name='mission_control',
            parameters=[
                {'debug_mode_active': True},
                {'R2S map file': os.path.abspath('./Town10HD.xodr')},
                {'goal_position_x': -110.36},
                {'goal_position_y': -8.48}
            ]
        ),
        Node(
            package='carla_bridge',
            namespace='ego_vehicle',
            executable='sensor_data_conversion_node',
            name='sensor_data_conversion_node',
            output='screen',
            parameters=[
                {'debug_mode_active': True},
            ]
        ),
        Node(
            package='carla_bridge',
            namespace='ego_vehicle',
            executable='control_command_conversion_node',
            name='control_command_conversion_node',
            output='screen',
            parameters=[
                {'debug_mode_active': True},
            ]
        ),
        Node(
            package='trajectory_tracker',
            namespace='ego_vehicle',
            executable='trajectory_tracker',
            name='trajectory_tracker',
            parameters=[
                {'set_controller': 1},  # 0 for MPC, 1 for PID
                {'controller_settings_keys': ['kp_x',
                                              'ki_x',
                                              'velocity_weight',
                                              'kp_y',
                                              'ki_y',
                                              'heading_weight',
                                              'kp_omega',
                                              'dt',
                                              'steering_comfort']},

                {'controller_settings_values': [0.3,
                                                0.02,
                                                0.3,
                                                0.25,
                                                0.0,
                                                0.3,
                                                0.1,
                                                0.05,
                                                2.5]}
            ],
            output={'both': 'log'},
        ),
    ]
    )