Add toggle on/off

basic_travel_simulator/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2022 LEIDOS.
+# Copyright (C) 2024 LEIDOS.
 #
 # Licensed under the Apache License, Version 2.0 (the "License"); you may not
 # use this file except in compliance with the License. You may obtain a copy of

basic_travel_simulator/config/parameters.yaml

@@ -2,7 +2,10 @@
 # Recommended: Match with controller's frequency
 pose_pub_rate: 30.0
 
-# Increase more to help avoid going back and forth
-# when speed is low and keeps getting same trajectory
-# better tracks trajectory if kept low [0, inf]
+# When speed is low, the simulator struggles to 
+# move the car forward consistently and the 
+# car may oscillate back and forth. Increase to help
+# avoid this issue.It means to consider
+# the next trajectory point that is traj_idx_buffer
+# further ahead in the trajectory. [0, inf]
 traj_idx_buffer: 0

basic_travel_simulator/include/basic_travel_simulator/basic_travel_simulator.hpp

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2022 LEIDOS.
+ * Copyright (C) 2024 LEIDOS.
  *
  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
  * use this file except in compliance with the License. You may obtain a copy of

basic_travel_simulator/include/basic_travel_simulator/basic_travel_simulator_config.hpp

@@ -1,6 +1,6 @@
 #pragma once
 /*
- * Copyright (C) 2022 LEIDOS.
+ * Copyright (C) 2024 LEIDOS.
  *
  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
  * use this file except in compliance with the License. You may obtain a copy of

basic_travel_simulator/launch/ basic_travel_simulator.launch.py

@@ -1,4 +1,4 @@
-# Copyright (C) 2022 LEIDOS.
+# Copyright (C) 2024 LEIDOS.
 #
 # Licensed under the Apache License, Version 2.0 (the "License"); you may not
 # use this file except in compliance with the License. You may obtain a copy of
@@ -23,46 +23,44 @@
 import os
 
 
-'''
+"""
 This file is can be used to launch the CARMA basic_travel_simulator node.
   Though in carma-platform it may be launched directly from the base launch file.
-'''
+"""
+
 
 def generate_launch_description():
 
     # Declare the log_level launch argument
-    log_level = LaunchConfiguration('log_level')
+    log_level = LaunchConfiguration("log_level")
     declare_log_level_arg = DeclareLaunchArgument(
-        name ='log_level', default_value='WARN')
-
+        name="log_level", default_value="WARN"
+    )
+
     # Get parameter file path
     param_file_path = os.path.join(
-        get_package_share_directory('basic_travel_simulator'), 'config/parameters.yaml')
+        get_package_share_directory("basic_travel_simulator"), "config/parameters.yaml"
+    )
 
-
     # Launch node(s) in a carma container to allow logging to be configured
     container = ComposableNodeContainer(
-        package='carma_ros2_utils',
-        name='basic_travel_simulator_container',
+        package="carma_ros2_utils",
+        name="basic_travel_simulator_container",
         namespace=GetCurrentNamespace(),
-        executable='carma_component_container_mt',
+        executable="carma_component_container_mt",
         composable_node_descriptions=[
-
             # Launch the core node(s)
             ComposableNode(
-                    package='basic_travel_simulator',
-                    plugin='basic_travel_simulator::Node',
-                    name='basic_travel_simulator',
-                    extra_arguments=[
-                        {'use_intra_process_comms': True},
-                        {'--log-level' : log_level }
-                    ],
-                    parameters=[  ]
+                package="basic_travel_simulator",
+                plugin="basic_travel_simulator::Node",
+                name="basic_travel_simulator",
+                extra_arguments=[
+                    {"use_intra_process_comms": True},
+                    {"--log-level": log_level},
+                ],
+                parameters=[],
             ),
-        ]
+        ],
     )
 
-    return LaunchDescription([
-        declare_log_level_arg,
-        container
-    ])
+    return LaunchDescription([declare_log_level_arg, container])

basic_travel_simulator/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 
 <!--  
- Copyright (C) 2022 LEIDOS.
+ Copyright (C) 2024 LEIDOS.
  Licensed under the Apache License, Version 2.0 (the "License"); you may not
  use this file except in compliance with the License. You may obtain a copy of
  the License at

basic_travel_simulator/src/basic_travel_simulator.cpp

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2022 LEIDOS.
+ * Copyright (C) 2024 LEIDOS.
  *
  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
  * use this file except in compliance with the License. You may obtain a copy of

basic_travel_simulator/src/main.cpp

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2022 LEIDOS.
+ * Copyright (C) 2024 LEIDOS.
  *
  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
  * use this file except in compliance with the License. You may obtain a copy of

basic_travel_simulator/test/TestMain.cpp

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2022 LEIDOS.
+ * Copyright (C) 2024 LEIDOS.
  *
  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
  * use this file except in compliance with the License. You may obtain a copy of

carma/launch/carma_src.launch.py

@@ -92,6 +92,14 @@ def generate_launch_description():
         description = "Path to file containing unique vehicle characteristics"
     )
 
+    # Enables/disables the basic travel simulator in carma-platform only local simulation environment
+    enable_basic_travel_simulator = LaunchConfiguration('enable_basic_travel_simulator')
+    declare_enable_basic_travel_simulator_arg = DeclareLaunchArgument(
+        'enable_basic_travel_simulator',
+        default_value='false',
+        description='Enable or disable the basic travel simulator'
+    )
+
     # Declare the vehicle_config_param_file launch argument
     vehicle_config_param_file = LaunchConfiguration('vehicle_config_param_file')
     declare_vehicle_config_param_file_arg = DeclareLaunchArgument(
@@ -250,7 +258,8 @@ def generate_launch_description():
                     'arealist_path' : arealist_path,
                     'vector_map_file' : vector_map_file,
                     'vehicle_calibration_dir': vehicle_calibration_dir,
-                    'use_sim_time' : use_sim_time
+                    'use_sim_time' : use_sim_time,
+                    'enable_basic_travel_simulator': enable_basic_travel_simulator
                 }.items()
             )
         ]
@@ -352,6 +361,7 @@ def generate_launch_description():
         declare_arealist_path,
         declare_vector_map_file,
         declare_is_ros2_tracing_enabled,
+        declare_enable_basic_travel_simulator_arg,
         drivers_group,
         transform_group,
         environment_group,

carma/launch/localization.launch.py

@@ -24,12 +24,14 @@
 from launch.substitutions import LaunchConfiguration
 from launch.actions import DeclareLaunchArgument
 
+
 import os
 
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.actions import GroupAction
 from launch_ros.actions import set_remap
+from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration, PythonExpression
 
@@ -51,8 +53,14 @@ def generate_launch_description():
         description = "Path to file containing override parameters for the subsystem controller"
     )
 
+    enable_basic_travel_simulator = LaunchConfiguration('enable_basic_travel_simulator')
+    declare_enable_basic_travel_simulator_arg = DeclareLaunchArgument(
+        'enable_basic_travel_simulator',
+        default_value='false',
+        description='Enable or disable the basic travel simulator'
+    )
+
     # Nodes
-    # TODO add ROS2 localization nodes here
 
     gnss_to_map_convertor_param_file = os.path.join(
     get_package_share_directory('gnss_to_map_convertor'), 'config/parameters.yaml')
@@ -134,6 +142,7 @@ def generate_launch_description():
     ])
 
     basic_travel_simulator_container = ComposableNodeContainer(
+    condition=IfCondition(enable_basic_travel_simulator),        
     package='carma_ros2_utils',
     name='basic_travel_simulator_container',
     executable='carma_component_container_mt',
@@ -152,7 +161,7 @@ def generate_launch_description():
                     ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/selected_pose" ] ),
                     ("plan_trajectory", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/plan_trajectory" ] ),
                 ],
-                parameters=[  ]
+                parameters=[ basic_travel_simulator_param_file ]
         )
     ])
 
@@ -407,6 +416,7 @@ def generate_launch_description():
         declare_arealist_path,
         declare_map_file,
         declare_use_sim_time_arg,
+        declare_enable_basic_travel_simulator_arg,
         gnss_to_map_convertor_container,
         basic_travel_simulator_container,
         localization_manager_container,