feat(realtime_factor): pass use_sim_time to Autoware

[pawellech1]

Description

Abstract

use_sim_time parameter is passed to the concealer's launch arguments based on the parameter passed to the scenario test runner launch command. It is False by default.

Background

Jira: RJD-822, RJD-1273
Document with stages 1,2,3: doc

Details

Usage of use_sim_time in Autoware and SS2 simulations:

• Stage 1: merged #1150
• Stage 2: merged #746 but reverted - because former way of propagating use_sim_time param to Autoware made it impossible to use the parameter outside of the simulation other solution was necessary - it is included in this PR
• Stage 3: omitted due to multiple regressions after setting use_sim_time to True as default

Multiple situations were tested:

1. SS2 with Autoware

• use_sim_time:=True passed using command line
  • Both Autoware and SS2 are launched with use_sim_time=true.
  • Time published on /clock is the simulation time (starting from 0).
  • Time published on /clock can be controlled by RViz plugin.
  • Simulation time can be controlled by RViz plugin.
• use_sim_time:=False passed using command line (default value)
  • Both Autoware and SS2 are launched with use_sim_time=false.
  • Time published on /clock is the walltime.
  • Time published on /clock cannot be controlled by RViz plugin.
  • Simulation time can be controlled by RViz plugin.

2. SS2 with Autoware and AWSIM (tested on awsim-ss2-stable)

• use_sim_time:=True passed using command line
  • Both Autoware and SS2 are launched with use_sim_time=true.
  • Time published on /clock is the simulation time (starting from 0).
  • Although the speed of time published on /clock can be controlled by RViz plugin it only affects the Autoware.
  • AWSIM behaves as if the speed of time was not changed which leads to invalid behavior.
  • It is possible to use the global_real_time_factor launch parameter if the StepExecution is turned on in ScenarioSimulatorConnector before AWSIM launch.
• use_sim_time:=False passed using command line (default value)
  • SS2 is launched with use_sim_time=false but Autoware is launched with use_sim_time=true.
  • Time published on /clock is raw time.
  • Time cannot be controlled by RViz plugin.
  • It is also not possible to control the speed of the simulation using the RViz plugin.

Destructive Changes

• Now the value of the use_sim_time parameter is passed to the Autoware launchr.

[github-actions]

Checklist for reviewers ☑️

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[HansRobo]

@dmoszynski @pawellech1
Finally, we've made use_sim_time default to false, so please update your pull-request title and description accordingly.

[dmoszynski]

@HansRobo Done

[HansRobo]

I've pointed out a few minor inconsistencies.
That's all the requests to change.

[dmoszynski]

@HansRobo
Please forgive me that I did not correct this earlier. 🙇
All requested changes introduced.

[HansRobo]

I'll merge after checking all CIs are green.