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tier4_vehicle_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_vehicle_launch package

Maintainers

Yukihiro Saito

Authors

No additional authors.

tier4_universe_launch/tier4_vehicle_launch/README.md

tier4_vehicle_launch

Structure

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use vehicle.launch.xml.

  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>

  <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
    <arg name="vehicle_model" value="$(var vehicle_model)"/>
    <arg name="sensor_model" value="$(var sensor_model)"/>
  </include>

Notes

This package finds some external packages and settings with variables and package names.

ex.)

<let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>

<arg name="config_dir" default="$(find-pkg-share $(var sensor_model)_description)/config"/>

vehicle.xacro

Arguments

Name	Type	Description	Default
sensor_model	String	sensor model name	””
vehicle_model	String	vehicle model name	””

Usage

You can write as follows in *.launch.xml.

  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
  <arg name="model" default="$(find-pkg-share tier4_vehicle_launch)/urdf/vehicle.xacro"/>

  <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
    <param name="robot_description" value="$(command 'xacro $(var model) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model)')"/>
  </node>

CHANGELOG

Changelog for package tier4_vehicle_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)

Merge remote-tracking branch 'origin/main' into humble
feat(tier4_vehicle_launch): add use_sim_time argument (#11607)
Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

Merge remote-tracking branch 'origin/main' into humble
docs(tier4_vehicle_launch): update individual_params reference in readme (#10442)
Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.43.0 (2025-03-21)

Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
fix(tier4_vehicle_launch): add missing exec_depend (#10133)
Contributors: Hayato Mizushima, Takagi, Isamu, Yutaka Kondo

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

chore: bump version to 0.41.1 (#10088)
Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
fix: fix ticket links in CHANGELOG.rst (#9588)
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
fix: fix ticket links in CHANGELOG.rst (#9588)
0.39.0
update changelog
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_raw_vehicle_cmd_converter
	robot_state_publisher
	xacro
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_launch
autoware_launch
autoware_launch
autoware_launch
autoware_gazebo_launch
autoware_webots_launch
parameter_estimator

Launch files

launch/vehicle.launch.xml
- - use_sim_time [default: false]
  - launch_vehicle_interface
  - vehicle_model
  - sensor_model
  - vehicle_id [default: $(env VEHICLE_ID default)]
  - initial_engage_state [default: false]
  - config_dir [default: $(find-pkg-share $(var sensor_model)_description)/config]
  - raw_vehicle_cmd_converter_param_path [default: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/config/raw_vehicle_cmd_converter.param.yaml]
  - model_file [default: $(find-pkg-share tier4_vehicle_launch)/urdf/vehicle.xacro]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tier4_vehicle_launch` at Robotics Stack Exchange

API Docs Browse Code

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