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tier4_simulator_launch package from autoware_launch repo

autoware_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch common_awsim_labs_sensor_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch common_sensor_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_common_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version	0.50.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_launch.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The tier4_simulator_launch package

Maintainers

Keisuke Shima
Takayuki Murooka
Takamasa Horibe
Tomoya Kimura
Taiki Tanaka

Authors

No additional authors.

tier4_universe_launch/tier4_simulator_launch/README.md

tier4_simulator_launch

Structure

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

  <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
    <arg name="vehicle_info_param_file" value="VEHICLE_INFO_PARAM_FILE" />
    <arg name="vehicle_model" value="VEHICLE_MODEL"/>
  </include>

The simulator model used in simple_planning_simulator is loaded from “config/simulator_model.param.yaml” in the “VEHICLE_MODEL_description” package.

CHANGELOG

Changelog for package tier4_simulator_launch

0.50.0 (2026-02-13)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: import tier4 launchers from universe (#1740)
Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

feat(perception_online_evaluator): add functionality to publish perception analytics info (#11089)

* feat: add functionality to calculate perception metrics for MOB in autoware_perception_online_evaluator chore: configure settings for mob metrics calculation

* feat: change implementation from one topic per metric to all metrics published in one metric for better management by metric agent refactor: rename FrameMetrics member to clarify variable meaning refactor: use array/vector instead of unorder_map for FrameMetrics for better performance chore: remap published topic name to match msg conventions
- fix: unittest error
- style(pre-commit): autofix
- refactor: replace MOB keyword with generalized expression of perception analytics
- chore: improve comment
* refactor: add a new autoware_perception_analytics_publisher_node to publish perception analytics info instead of using previous autoware_perception_online_evaluator_node chore: modify default launch setting to match the refactoring
- style(pre-commit): autofix
* fix: add initialization for [latencies_]{.title-ref} fix: use tf of objects timestamp instead of latest feat: use ConstSharedPtr to avoid repeated copy of large message in [PerceptionAnalyticsCalculator::setPredictedObjects]{.title-ref} ---------Co-authored-by: Jian Kang <<jian.kang@tier4.jp>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(simulator.launch): replace object recognition tracking with multi-object tracker integration (#10946)
- fix(simulator.launch): replace object recognition tracking with multi-object tracker integration
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Kang, Taekjin LEE, awf-autoware-bot[bot]

0.46.0 (2025-06-20)

feat(tier4_simulator_launch): add use_pointcloud_container argument (#10770)
Contributors: Ryohsuke Mitsudome

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
chore(simulator.launch): remove params of traffic_light_selector (#10536) remove params
Contributors: Masato Saeki, TaikiYamada4

0.44.2 (2025-06-10)

feat(tier4_simulator_launch): add use_pointcloud_container argument (#10770) (#10786)
feat(tier4_simulator_launch): add use_pointcloud_container argument (#10770)
Contributors: Ryohsuke Mitsudome

0.44.1 (2025-05-01)

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Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_dummy_perception_publisher
	autoware_elevation_map_loader
	autoware_fault_injection
	autoware_multi_object_tracker
	autoware_perception_online_evaluator
	autoware_pose_initializer
	autoware_simple_planning_simulator
	autoware_vehicle_door_simulator
	autoware_vehicle_velocity_converter
	tier4_localization_launch
	tier4_perception_launch
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_launch
autoware_launch
autoware_launch
autoware_launch

Launch files

launch/simulator.launch.xml
- - fault_injection_param_path
  - obstacle_segmentation_ground_segmentation_elevation_map_param_path
  - laserscan_based_occupancy_grid_map_param_path
  - occupancy_grid_map_updater
  - occupancy_grid_map_updater_param_path
  - localization_error_monitor_param_path
  - ekf_localizer_param_path
  - stop_filter_param_path
  - pose_initializer_param_path
  - twist2accel_param_path
  - each_traffic_light_map_based_detector_param_path
  - traffic_light_fine_detector_param_path
  - yolox_traffic_light_detector_param_path
  - car_traffic_light_classifier_param_path
  - pedestrian_traffic_light_classifier_param_path
  - traffic_light_roi_visualizer_param_path
  - traffic_light_occlusion_predictor_param_path
  - traffic_light_multi_camera_fusion_param_path
  - traffic_light_arbiter_param_path
  - crosswalk_traffic_light_estimator_param_path
  - launch_simulator_perception_modules [default: true]
  - use_pointcloud_container [default: true]
  - launch_dummy_perception
  - launch_dummy_vehicle
  - localization_sim_mode
  - launch_dummy_doors
  - launch_scenario_simulator_v2_adapter
  - vehicle_info_param_file
  - raw_vehicle_cmd_converter_param_path
  - perception/enable_detection_failure [default: true]
  - perception/enable_object_recognition [default: false]
  - perception/enable_elevation_map [default: false]
  - perception/enable_traffic_light [default: true]
  - fusion_only [default: true]
  - perception/use_base_link_z [default: true]
  - sensing/visible_range [default: 300.0]
  - use_perception_online_evaluator [default: false]
  - use_perception_analytics_publisher [default: true]
  - diagnostic_config [default: ]
  - vehicle_model
  - initial_engage_state [default: true]
  - input_vehicle_velocity_topic [default: /vehicle/status/velocity_status]
  - output_twist_with_covariance [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - config_file [default: $(find-pkg-share autoware_vehicle_velocity_converter)/config/vehicle_velocity_converter.param.yaml]
  - simulator_model [default: $(var vehicle_model_pkg)/config/simulator_model.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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