Feature/ros2 parameter forwarding

[yamacir-kit]

Description

Abstract

Added forwarding of scenario_test_runner launch arguments prefixed with autoware. to Autoware.

Background

Previously, scenario_test_runner had no mechanism to pass arbitrary launch arguments to Autoware that were not directly supported by scenario_test_runner. This was not due to scenario_test_runner design or technical reasons, but simply because such functionality was not implemented. Therefore, a mechanism was implemented to forward arbitrary launch arguments from scenario_test_runner to Autoware.

Details

All launch arguments given to scenario_test_runner with names starting with autoware. are collected together as a list of strings consisting of the prefix-stripped argument names and their values.
The collected arguments are passed to openscenario_interpreter and simple_sensor_simulator as a new ROS 2 parameter named autoware.. Finally, openscenario_interpreter passes the elements of the ROS 2 parameter autoware. together with other existing parameters to the launch argument of Autoware.

References

• https://github.com/tier4/sim_evaluation_tools/issues/334

Destructive Changes

None.
Some existing launch arguments should be able to be replaced with those of the autoware. prefix, but for backward compatibility, we will not modify the existing arguments.

Known Limitations

None.

[github-actions]

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