Move autoware api launch files (autowarefoundation#387)

autoware_api_launch/launch/autoware_api.launch.xml

@@ -8,9 +8,9 @@
   <!-- autoware api adaptor -->
   <group>
     <push-ros-namespace namespace="autoware_api"/>
-    <include file="$(find-pkg-share autoware_iv_external_api_adaptor)/launch/external_api_adaptor.launch.py"/>
-    <include file="$(find-pkg-share autoware_iv_internal_api_adaptor)/launch/internal_api_adaptor.launch.py"/>
-    <include file="$(find-pkg-share autoware_iv_internal_api_adaptor)/launch/internal_api_relay.launch.xml"/>
+    <include file="$(find-pkg-share autoware_api_launch)/launch/include/external_api_adaptor.launch.py"/>
+    <include file="$(find-pkg-share autoware_api_launch)/launch/include/internal_api_adaptor.launch.py"/>
+    <include file="$(find-pkg-share autoware_api_launch)/launch/include/internal_api_relay.launch.xml"/>
   </group>
 
   <!-- autoware api utils -->

autoware_api_launch/launch/include/external_api_adaptor.launch.py

@@ -0,0 +1,52 @@
+# Copyright 2021 Tier IV, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import launch
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+def _create_api_node(node_name, class_name, **kwargs):
+    return ComposableNode(
+        namespace='external',
+        name=node_name,
+        package='autoware_iv_external_api_adaptor',
+        plugin='external_api::' + class_name,
+        **kwargs
+    )
+
+
+def generate_launch_description():
+    components = [
+        _create_api_node('diagnostics', 'Diagnostics'),
+        _create_api_node('door', 'Door'),
+        _create_api_node('emergency', 'Emergency'),
+        _create_api_node('engage', 'Engage'),
+        _create_api_node('initial_pose', 'InitialPose'),
+        _create_api_node('map', 'Map'),
+        _create_api_node('operator', 'Operator'),
+        _create_api_node('route', 'Route'),
+        _create_api_node('service', 'Service'),
+        _create_api_node('velocity', 'Velocity'),
+        _create_api_node('version', 'Version'),
+    ]
+    container = ComposableNodeContainer(
+        namespace='external',
+        name='autoware_iv_adaptor',
+        package='rclcpp_components',
+        executable='component_container_mt',
+        composable_node_descriptions=components,
+        output='screen',
+    )
+    return launch.LaunchDescription([container])

autoware_api_launch/launch/include/internal_api_adaptor.launch.py

@@ -0,0 +1,51 @@
+# Copyright 2021 Tier IV, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import launch
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+def _create_api_node(node_name, class_name, **kwargs):
+    return ComposableNode(
+        namespace='internal',
+        name=node_name,
+        package='autoware_iv_internal_api_adaptor',
+        plugin='internal_api::' + class_name,
+        **kwargs
+    )
+
+
+def generate_launch_description():
+    param_initial_pose = {
+        'init_simulator_pose': LaunchConfiguration('init_simulator_pose'),
+        'init_localization_pose': LaunchConfiguration('init_localization_pose'),
+    }
+    components = [
+        _create_api_node('initial_pose', 'InitialPose', parameters=[param_initial_pose]),
+        _create_api_node('operator', 'Operator'),
+        _create_api_node('route', 'Route'),
+        _create_api_node('start', 'Start'),
+        _create_api_node('velocity', 'Velocity'),
+    ]
+    container = ComposableNodeContainer(
+        namespace='internal',
+        name='autoware_iv_adaptor',
+        package='rclcpp_components',
+        executable='component_container_mt',
+        composable_node_descriptions=components,
+        output='screen',
+    )
+    return launch.LaunchDescription([container])

autoware_api_launch/launch/include/internal_api_relay.launch.xml

@@ -0,0 +1,26 @@
+<launch>
+  <group>
+    <push-ros-namespace namespace="internal"/>
+    <node pkg="topic_tools" exec="relay" name="traffic_light_states">
+      <param name="input_topic" value="/api/autoware/set/traffic_light_states"/>
+      <param name="output_topic" value="/external/traffic_light_recognition/traffic_light_states"/>
+      <param name="type" value="autoware_perception_msgs/msg/TrafficLightStateArray"/>
+    </node>
+    <node pkg="topic_tools" exec="relay" name="intersection_states">
+      <param name="input_topic" value="/api/autoware/set/intersection_states"/>
+      <param name="output_topic" value="/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_intersection_states"/>
+      <param name="type" value="autoware_api_msgs/msg/IntersectionStatus"/>
+    </node>
+    <node pkg="topic_tools" exec="relay" name="crosswalk_states">
+      <param name="input_topic" value="/api/autoware/set/crosswalk_states"/>
+      <param name="output_topic" value="/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_crosswalk_states"/>
+      <param name="type" value="autoware_api_msgs/msg/CrosswalkStatus"/>
+    </node>
+    <!-- TODO(Takagi, Isamu): workaround for topic check -->
+    <node pkg="topic_tools" exec="relay" name="initialpose">
+      <param name="input_topic" value="/initialpose"/>
+      <param name="output_topic" value="/initialpose2d"/>
+      <param name="type" value="geometry_msgs/msg/PoseWithCovarianceStamped"/>
+    </node>
+  </group>
+</launch>

autoware_api_launch/package.xml

@@ -10,9 +10,11 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>awapi_awiv_adapter</exec_depend>
   <exec_depend>autoware_iv_external_api_adaptor</exec_depend>
   <exec_depend>autoware_iv_internal_api_adaptor</exec_depend>
   <exec_depend>path_distance_calculator</exec_depend>
+  <exec_depend>topic_tools</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

autoware_launch/package.xml

@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <!-- launch -->
+  <exec_depend>autoware_api_launch</exec_depend>
   <exec_depend>control_launch</exec_depend>
   <exec_depend>localization_launch</exec_depend>
   <exec_depend>map_launch</exec_depend>
@@ -30,10 +31,6 @@
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-bson</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-bson</exec_depend>
 
-  <!-- api adaptor -->
-  <exec_depend>awapi_awiv_adapter</exec_depend>
-  <exec_depend>autoware_iv_external_api_adaptor</exec_depend>
-
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>