launch_unifier_ws

This is a meta workspace repository for the launch_unifier package.

Credits

This was forked from https://github.com/kenji-miyake/ros_component_diagram_generator

Thanks for the efforts of Kenji Miyake @kenji-miyake

Usage

cd launch_unifier_ws
vcs import src < launch_unifier.repos

source /opt/ros/humble/setup.bash

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=1 --allow-overriding launch_ros launch_testing_ros ros2launch

# source the workspace where the launch files are located
# example:
source ~/projects/autoware/install/setup.bash

# source the launch_unifier_ws workspace
source install/setup.bash

# Confirm that launch_ros points to the local package
ros2 pkg prefix launch_ros
# Expected: .../launch_unifier_ws/install/launch_ros

# run the launch_unifier node with the launch_command containing the full launch command
# example:
ros2 run launch_unifier launch_unifier --ros-args \
-p launch_command:="ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=/home/mfc/autoware_map/nishishinjuku_autoware_map"

This will generate:

• output/generated.launch.xml
• output/output/entity_tree.pu

If the output/generated.launch.xml contains a xacro command, follow the instructions in the xacro support section.

And you can run the generated launch file in another terminal with following:

# source the workspace where the launch files are located
# example:
source ~/projects/autoware/install/setup.bash

ros2 launch output/generated.launch.xml

And if all goes well, this should act same as the original launch file.

Known Bugs

It might not support all the launch action types. It has been tested to work with the Autoware Universe launch files.

xacro support

It doesn't support the xacro command in the launch files. This happens because it resolves everything to the final state. And requires to have XML string inside XML file.

Looking into fixing this issue. You need to search for xml and replace that manually.

Example:

generated launch xml:

  <!-- /robot_state_publisher -->
  <node pkg="robot_state_publisher"
        exec="robot_state_publisher"
        name="robot_state_publisher"
        namespace=""
        >

    <!-- parameter tuples global -->
    <param name="use_sim_time" value="True" />
    <param name="wheel_radius" value="0.3830" />
    <param name="wheel_width" value="0.2350" />
    <param name="wheel_base" value="2.790" />
    <param name="wheel_tread" value="1.640" />
    <param name="front_overhang" value="1.0" />
    <param name="rear_overhang" value="1.10" />
    <param name="left_overhang" value="0.1280" />
    <param name="right_overhang" value="0.1280" />
    <param name="vehicle_height" value="2.50" />
    <param name="max_steer_angle" value="0.70" />

    <!-- parameter dictionary -->
    <param name="robot_description" value="/home/mfc/projects/launch_unifier_ws/output/xml_file.xml" />

  </node>

replace that with:

  <node pkg="robot_state_publisher"
        exec="robot_state_publisher"
        name="robot_state_publisher"
        namespace=""
        >

    <!-- parameter tuples global -->
    <param name="use_sim_time" value="True" />
    <param name="wheel_radius" value="0.3830" />
    <param name="wheel_width" value="0.2350" />
    <param name="wheel_base" value="2.790" />
    <param name="wheel_tread" value="1.640" />
    <param name="front_overhang" value="1.0" />
    <param name="rear_overhang" value="1.10" />
    <param name="left_overhang" value="0.1280" />
    <param name="right_overhang" value="0.1280" />
    <param name="vehicle_height" value="2.50" />
    <param name="max_steer_angle" value="0.70" />

    <!-- parameter dictionary -->
    <param name="robot_description" value="$(command 'xacro $(find-pkg-share tier4_vehicle_launch)/urdf/vehicle.xacro vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit config_dir:=$(find-pkg-share individual_params)/config/default/awsim_sensor_kit' 'warn')"/>
  </node>