fix: mock test launch

[satoshi-ota]

Description

• pass necessary parameters to cpp_scenario_node properly.
• make it possible to change frame rate and real time factor by parameter.

Abstract

• update mock_test.launch.py in order to pass necessary parameters.
• fix cpp_scenario_node implementation to use parameter.

Background

I found cpp_scenario_node didn't use proper vehicle model type which was definded in simulator_model.param.yaml when I used mock_test.launch.py.

Additionally, I think it is better to remove hard-coded variable so that we can change the configuration flexibly.

Details

With this PR, I confirmed cpp_scenario_node works with expecrted vehicle model type and calculates vehicle state with expected step time defined by global_frame_rate.

Used command:

ros2 launch cpp_mock_scenarios mock_test.launch.py scenario:=random001 global_frame_rate:=30.0 vehicle_model:=lexus sensor_model:=aip_xx1

Used vehicle model: DELAY_STEER_ACC_GEARED

Insert debug snipet:

--- a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp
+++ b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp
@@ -79,6 +79,7 @@ auto EgoEntitySimulation::getVehicleModelType() -> VehicleModelType
 {
   const auto vehicle_model_type =
     getParameter<std::string>("vehicle_model_type", "IDEAL_STEER_VEL");
+  std::cout << "vehicle_model_type:" << vehicle_model_type << std::endl;
 
   static const std::unordered_map<std::string, VehicleModelType> table{
     {"DELAY_STEER_ACC", VehicleModelType::DELAY_STEER_ACC},
@@ -106,6 +107,7 @@ auto EgoEntitySimulation::makeSimulationModel(
 {
   auto node = rclcpp::Node("get_parameter", "simulation");
 
+  std::cout << "step_time" << step_time << std::endl;
   auto get_parameter = [&](const std::string & name, auto value = {}) {
     node.declare_parameter<decltype(value)>(name, value);
     node.get_parameter<decltype(value)>(name, value);

Screen output:

[INFO] [launch]: All log files can be found below /home/satoshi/.ros/log/2024-09-11-08-24-44-066448-dpc2406501-5612                                                                                                                                                                                                                                                                                                              
[INFO] [launch]: Default logging verbosity is set to INFO                                                                                                                                                                                                                                                                                                                                                                        
architecture_type                   := awf/universe/20230906                                                                                                                                                                                                                                                                                                                                                                     
autoware_launch_file                := planning_simulator.launch.xml                                                                                                                                                                                                                                                                                                                                                             
autoware_launch_package             := autoware_launch                                                                                                                                                                                                                                                                                                                                                                           
consider_acceleration_by_road_slope := False                                                                                                                                                                                                                                                                                                                                                                                     
consider_pose_by_road_slope         := True                                                                                                                                                                                                                                                                                                                                                                                      
global_frame_rate                   := 30.0                                                                                                                                                                                                                                                                                                                                                                                      
global_real_time_factor             := 1.0                                                                                                                                                                                                                                                                                                                                                                                       
global_timeout                      := 180                                                                                                                                                                                                                                                                                                                                                                                       
initialize_duration                 := 300                                                                                                                                                                                                                                                                                                                                                                                       
launch_autoware                     := True                                                                                                                                                                                                                                                                                                                                                                                      
launch_rviz                         := False                                                                                                                                                                                                                                                                                                                                                                                     
output_directory                    := /tmp                                                                                                                                                                                                                                                                                                                                                                                      
port                                := 5555                                                                                                                                                                                                                                                                                                                                                                                      
publish_empty_context               := False                                                                                                                                                                                                                                                                                                                                                                                     
record                              := False                                                                                                                                                                                                                                                                                                                                                                                     
rviz_config                         := /home/satoshi/pilot-auto/install/traffic_simulator/share/traffic_simulator/config/scenario_simulator_v2.rviz                                                                                                                                                                                                                                                                              
scenario                            := random001                                                                                                                                                                                                                                                                                                                                                                                 
sensor_model                        := aip_xx1                                                                                                                                                                                                                                                                                                                                                                                   
sigterm_timeout                     := 8                                                                                                                                                                                                                                                                                                                                                                                         
use_sim_time                        := False                                                                                                                                                                                                                                                                                                                                                                                     
vehicle_model                       := lexus                                                                                                                                                                                                                                                                                                                                                                                     
scenario_package                    := cpp_mock_scenarios                                                                                                                                                                                                                                                                                                                                                                        
junit_path                          := /tmp/output.xunit.xml                                                                                                                                                                                                                                                                                                                                                                     
[INFO] [random001-1]: process started with pid [5613]                                                                                                                                                                                                                                                                                                                                                                            
[INFO] [simple_sensor_simulator_node-2]: process started with pid [5615]                                                                                                                                                                                                                                                                                                                                                         
[INFO] [visualization_node-3]: process started with pid [5617]                                                                                                                                                                                                                                                                                                                                                                   
[random001-1] [INFO] [launch]: All log files can be found below /home/satoshi/.ros/log/2024-09-11-08-24-44-614686-dpc2406501-5661                                                                                                                                                                                                                                                                                                
[random001-1] [INFO] [launch]: Default logging verbosity is set to INFO                                                                                                                                                                                                                                                                                                                                                          
[simple_sensor_simulator_node-2] vehicle_model_type:DELAY_STEER_ACC_GEARED                                                                                                                                                                                                                                                                                                                                                       
[simple_sensor_simulator_node-2] step_time0.0333333 

References

N.A

Destructive Changes

N.A

Known Limitations

N.A

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