What is the difference between three launch files in autoware_launch?

[kminoda]

Hi! I have a question about the autoware_launch repository.

It appears that there are three main launch files here

• autoware.launch.xml
• logging_simulator.launch.xml
• planning_simulator.launch.xml

What is the difference between these three launch files?
I read the structure of each launch file (here), but I could not understand in what type of situation should we use each file.

In particular, which launch file should we use when we want to drive a real mobile robot? Is it autoware.launch.xml or planning_simulator.launch.xml? Or should is it intended that we create our own launch file?

Thank you in advance!

[kenji-miyake]

• autoware.launch.xml: For real vehicles
• logging_simulator.launch.xml: For RosBag replay simulations
  https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/
• planning_simulator.launch.xml: For planning simulations
  https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/

In particular, which launch file should we use when we want to drive a real mobile robot?

Therefore, the answer is autoware.launch.xml.

Or should is it intended that we create our own launch file?

If you want to add some extensions, you can do that.
If you use Autoware as-is, you don't have to create your own launch file.

@kminoda Is this answer clear for you?

[kminoda]

I was confused about what autoware.launch.xml is intended for since (AFAIK) there was no explanation about it in Autoware Documentation.

And yes, that answers my question! Thank you for the quick reply.