Merge pull request #549 from tier4/sync-awf-latest

chore: sync awf-latest
tier4 · Aug 19, 2024 · 2e8cc7d · 2e8cc7d
2 parents 6e47fb9 + 713aa97
commit 2e8cc7d
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -51,7 +51,10 @@
       name="object_recognition_tracking_multi_object_tracker_node_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml"
     />
+    <arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
+    <arg name="ekf_localizer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ekf_localizer.param.yaml"/>
     <arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml"/>
+    <arg name="twist2accel_param_path" value="$(find-pkg-share autoware_launch)/config/localization/twist2accel.param.yaml"/>
     <arg name="laserscan_based_occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -41,7 +41,7 @@
   <arg
     name="localization_sim_mode"
     default="api"
-    description="Select localization mode. Options are 'none' or 'api'. 'api' starts an external API for initial position estimation. 'none' does not start any localization-related process."
+    description="Select localization mode. Options are 'none', 'api' or 'pose_twist_estimator'. 'pose_twist_estimator' starts most of the localization modules except for the ndt_scan_matcher. 'api' starts an external API for initial position estimation. 'none' does not start any localization-related process."
   />
 
   <group scoped="false">