Feature/ros2 parameter forwarding #1362
Merged
+60
−53
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Abstract
Added forwarding of
scenario_test_runner
launch arguments prefixed withautoware.
to Autoware.Background
Previously,
scenario_test_runner
had no mechanism to pass arbitrary launch arguments to Autoware that were not directly supported byscenario_test_runner
. This was not due toscenario_test_runner
design or technical reasons, but simply because such functionality was not implemented. Therefore, a mechanism was implemented to forward arbitrary launch arguments fromscenario_test_runner
to Autoware.Details
All launch arguments given to
scenario_test_runner
with names starting withautoware.
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
andsimple_sensor_simulator
as a new ROS 2 parameter namedautoware.
. Finally,openscenario_interpreter
passes the elements of the ROS 2 parameterautoware.
together with other existing parameters to the launch argument of Autoware.References
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.