16.3.5

Description

This PR resolves the following issues:

• Fixes the missing RViz config file.
• Addresses duplicated node errors for the Random Test Runner.
• Resolves the issue with duplicate /simulation/getParameter node.
• Fixes NPC logic not starting when the ego is already engaged.

Abstract

Fixes node duplication issues and adds the missing RViz config file.
Also adds IMU sensor configuration to the Random Test Runner to eliminate related warnings.
Resolves an issue where NPC logic would not start if the ego entity was already engaged.

Details

• Adds the missing RViz config file path in the launch file.
• Adds the IMU sensor to the Random Test Runner to resolve warnings about missing IMU topic link.
• Resolves issues related to duplicated nodes.
  • In the case of Random Test Runner, node names were removed from the launch file to avoid duplication file
  • For the /simulation/getParameter node, previously, a node was created for each parameter type. The new approach limits the number of created nodes and prevents duplicate nodes across different executables link
• Fixes NPC logic not starting link:
  Previously, the logic checked whether the ego entity was engageable. However, after calling engage() in initialize(), Autoware transitions to the DRIVING state, making the ego entity no longer engageable. This prevented the NPC logic from starting. The condition has been updated to check whether the ego is already engaged, allowing the logic to proceed as expected.

References

• JIRA Ticket: RJD-1755
• JIRA Ticket: RJD-1766
• Github Issue #1441

Destructive Changes

N/A

Known Limitations

N/A

Related Issues