ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
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 autoware_launch package
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.50.0 (2026-02-13)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(traffic_light_classifier): add under exposure threshold (#1725)
- add under exposure threshold
* change parameter ---------
-
fix: add argument for traffic light (#1748)
-
feat(autoware_launch): remove tier4 api adapter (#1745) update api option
-
feat(obstacle_stop): add height and size filter (#1742)
-
fix(dummy_perception_publisher): set default pedestrian z position to 0.0m (#1739)
-
feat(avoidance): add parameter for signalling during yield (#1721)
-
feat(behavior_path_planner): add turn_signal_path_backward_length parametor (#1729) feat: add turn signal path backward length parameter
-
fix(roi_cluster_fusion): separate iou threshold for each class (#1730)
- fix(roi_cluster_fusion): separate iou threshold for each class
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(ekf_localizer): change for queue pop on ekf_localizer (#1690) fix: change for queue pop on ekf_localizer
-
Contributors: Masaki Baba, Mehmet Dogru, Motz, Sho Iwasawa, Takagi, Isamu, Yuki TAKAGI, badai nguyen, github-actions
0.49.0 (2025-12-30)
-
Merge remote-tracking branch 'origin/main' into prepare-changelog-0.49.0
-
refactor(ground_segmentation): remove grid_mode_switch_radius (#1720)
-
feat: allow the latest frame from each tlr camera to stay for a little longer (#1718)
- feat: allow the latest frame from each tlr camera to stay for a little longer
- chore: change name to message_lifespan_latest
* fix: instead of adding new parameters, tune the parameter to get the 10Hz system to be stable ---------
-
feat(multi_object_tracker): improve shape unstable object tracking (#1511)
- chore: remove unused max_rad_matrix and replace min_iou_matrix with min_giou_matrix
- style(pre-commit): autofix
- perf: tune distance gate for association of significant shape changed objects
- perf: use tighter association threshold on unknown object
- perf: relax unknown object association threshold to improve robustness
* perf: relax giou threshold for MOTORBIKE chore: rename giou back to iou in config
* style(pre-commit): autofix ---------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>
-
feat(autoware_launch): specify api launch args explicitly (#1719)
- feat(autoware_launch): specify api launch args explicitly
- style(pre-commit): autofix
* fix
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- control_input_objects_topic_name [default: /perception/object_recognition/objects]
- control_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: true]
- tracker_publish_merged_objects [default: false]
- use_camera_vru_detector [default: false]
- camera_vru_detector_rois_ids [default: [0]]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- input_pointcloud_for_traffic_light_occlusion_predictor [default: /sensing/lidar/top/pointcloud_raw_ex]
- camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
- camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
- camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- planning_input_objects_topic_name [default: /perception/object_recognition/objects]
- planning_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- use_sim_time [default: false]
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
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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 autoware_launch package
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.50.0 (2026-02-13)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(traffic_light_classifier): add under exposure threshold (#1725)
- add under exposure threshold
* change parameter ---------
-
fix: add argument for traffic light (#1748)
-
feat(autoware_launch): remove tier4 api adapter (#1745) update api option
-
feat(obstacle_stop): add height and size filter (#1742)
-
fix(dummy_perception_publisher): set default pedestrian z position to 0.0m (#1739)
-
feat(avoidance): add parameter for signalling during yield (#1721)
-
feat(behavior_path_planner): add turn_signal_path_backward_length parametor (#1729) feat: add turn signal path backward length parameter
-
fix(roi_cluster_fusion): separate iou threshold for each class (#1730)
- fix(roi_cluster_fusion): separate iou threshold for each class
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(ekf_localizer): change for queue pop on ekf_localizer (#1690) fix: change for queue pop on ekf_localizer
-
Contributors: Masaki Baba, Mehmet Dogru, Motz, Sho Iwasawa, Takagi, Isamu, Yuki TAKAGI, badai nguyen, github-actions
0.49.0 (2025-12-30)
-
Merge remote-tracking branch 'origin/main' into prepare-changelog-0.49.0
-
refactor(ground_segmentation): remove grid_mode_switch_radius (#1720)
-
feat: allow the latest frame from each tlr camera to stay for a little longer (#1718)
- feat: allow the latest frame from each tlr camera to stay for a little longer
- chore: change name to message_lifespan_latest
* fix: instead of adding new parameters, tune the parameter to get the 10Hz system to be stable ---------
-
feat(multi_object_tracker): improve shape unstable object tracking (#1511)
- chore: remove unused max_rad_matrix and replace min_iou_matrix with min_giou_matrix
- style(pre-commit): autofix
- perf: tune distance gate for association of significant shape changed objects
- perf: use tighter association threshold on unknown object
- perf: relax unknown object association threshold to improve robustness
* perf: relax giou threshold for MOTORBIKE chore: rename giou back to iou in config
* style(pre-commit): autofix ---------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>
-
feat(autoware_launch): specify api launch args explicitly (#1719)
- feat(autoware_launch): specify api launch args explicitly
- style(pre-commit): autofix
* fix
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- control_input_objects_topic_name [default: /perception/object_recognition/objects]
- control_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: true]
- tracker_publish_merged_objects [default: false]
- use_camera_vru_detector [default: false]
- camera_vru_detector_rois_ids [default: [0]]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- input_pointcloud_for_traffic_light_occlusion_predictor [default: /sensing/lidar/top/pointcloud_raw_ex]
- camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
- camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
- camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- planning_input_objects_topic_name [default: /perception/object_recognition/objects]
- planning_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- use_sim_time [default: false]
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
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 autoware_launch package
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.50.0 (2026-02-13)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(traffic_light_classifier): add under exposure threshold (#1725)
- add under exposure threshold
* change parameter ---------
-
fix: add argument for traffic light (#1748)
-
feat(autoware_launch): remove tier4 api adapter (#1745) update api option
-
feat(obstacle_stop): add height and size filter (#1742)
-
fix(dummy_perception_publisher): set default pedestrian z position to 0.0m (#1739)
-
feat(avoidance): add parameter for signalling during yield (#1721)
-
feat(behavior_path_planner): add turn_signal_path_backward_length parametor (#1729) feat: add turn signal path backward length parameter
-
fix(roi_cluster_fusion): separate iou threshold for each class (#1730)
- fix(roi_cluster_fusion): separate iou threshold for each class
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(ekf_localizer): change for queue pop on ekf_localizer (#1690) fix: change for queue pop on ekf_localizer
-
Contributors: Masaki Baba, Mehmet Dogru, Motz, Sho Iwasawa, Takagi, Isamu, Yuki TAKAGI, badai nguyen, github-actions
0.49.0 (2025-12-30)
-
Merge remote-tracking branch 'origin/main' into prepare-changelog-0.49.0
-
refactor(ground_segmentation): remove grid_mode_switch_radius (#1720)
-
feat: allow the latest frame from each tlr camera to stay for a little longer (#1718)
- feat: allow the latest frame from each tlr camera to stay for a little longer
- chore: change name to message_lifespan_latest
* fix: instead of adding new parameters, tune the parameter to get the 10Hz system to be stable ---------
-
feat(multi_object_tracker): improve shape unstable object tracking (#1511)
- chore: remove unused max_rad_matrix and replace min_iou_matrix with min_giou_matrix
- style(pre-commit): autofix
- perf: tune distance gate for association of significant shape changed objects
- perf: use tighter association threshold on unknown object
- perf: relax unknown object association threshold to improve robustness
* perf: relax giou threshold for MOTORBIKE chore: rename giou back to iou in config
* style(pre-commit): autofix ---------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>
-
feat(autoware_launch): specify api launch args explicitly (#1719)
- feat(autoware_launch): specify api launch args explicitly
- style(pre-commit): autofix
* fix
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- control_input_objects_topic_name [default: /perception/object_recognition/objects]
- control_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: true]
- tracker_publish_merged_objects [default: false]
- use_camera_vru_detector [default: false]
- camera_vru_detector_rois_ids [default: [0]]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- input_pointcloud_for_traffic_light_occlusion_predictor [default: /sensing/lidar/top/pointcloud_raw_ex]
- camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
- camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
- camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- planning_input_objects_topic_name [default: /perception/object_recognition/objects]
- planning_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- use_sim_time [default: false]
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
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 autoware_launch package
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.50.0 (2026-02-13)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(traffic_light_classifier): add under exposure threshold (#1725)
- add under exposure threshold
* change parameter ---------
-
fix: add argument for traffic light (#1748)
-
feat(autoware_launch): remove tier4 api adapter (#1745) update api option
-
feat(obstacle_stop): add height and size filter (#1742)
-
fix(dummy_perception_publisher): set default pedestrian z position to 0.0m (#1739)
-
feat(avoidance): add parameter for signalling during yield (#1721)
-
feat(behavior_path_planner): add turn_signal_path_backward_length parametor (#1729) feat: add turn signal path backward length parameter
-
fix(roi_cluster_fusion): separate iou threshold for each class (#1730)
- fix(roi_cluster_fusion): separate iou threshold for each class
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(ekf_localizer): change for queue pop on ekf_localizer (#1690) fix: change for queue pop on ekf_localizer
-
Contributors: Masaki Baba, Mehmet Dogru, Motz, Sho Iwasawa, Takagi, Isamu, Yuki TAKAGI, badai nguyen, github-actions
0.49.0 (2025-12-30)
-
Merge remote-tracking branch 'origin/main' into prepare-changelog-0.49.0
-
refactor(ground_segmentation): remove grid_mode_switch_radius (#1720)
-
feat: allow the latest frame from each tlr camera to stay for a little longer (#1718)
- feat: allow the latest frame from each tlr camera to stay for a little longer
- chore: change name to message_lifespan_latest
* fix: instead of adding new parameters, tune the parameter to get the 10Hz system to be stable ---------
-
feat(multi_object_tracker): improve shape unstable object tracking (#1511)
- chore: remove unused max_rad_matrix and replace min_iou_matrix with min_giou_matrix
- style(pre-commit): autofix
- perf: tune distance gate for association of significant shape changed objects
- perf: use tighter association threshold on unknown object
- perf: relax unknown object association threshold to improve robustness
* perf: relax giou threshold for MOTORBIKE chore: rename giou back to iou in config
* style(pre-commit): autofix ---------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>
-
feat(autoware_launch): specify api launch args explicitly (#1719)
- feat(autoware_launch): specify api launch args explicitly
- style(pre-commit): autofix
* fix
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- control_input_objects_topic_name [default: /perception/object_recognition/objects]
- control_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: true]
- tracker_publish_merged_objects [default: false]
- use_camera_vru_detector [default: false]
- camera_vru_detector_rois_ids [default: [0]]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- input_pointcloud_for_traffic_light_occlusion_predictor [default: /sensing/lidar/top/pointcloud_raw_ex]
- camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
- camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
- camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- planning_input_objects_topic_name [default: /perception/object_recognition/objects]
- planning_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- use_sim_time [default: false]
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
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 autoware_launch package
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.50.0 (2026-02-13)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(traffic_light_classifier): add under exposure threshold (#1725)
- add under exposure threshold
* change parameter ---------
-
fix: add argument for traffic light (#1748)
-
feat(autoware_launch): remove tier4 api adapter (#1745) update api option
-
feat(obstacle_stop): add height and size filter (#1742)
-
fix(dummy_perception_publisher): set default pedestrian z position to 0.0m (#1739)
-
feat(avoidance): add parameter for signalling during yield (#1721)
-
feat(behavior_path_planner): add turn_signal_path_backward_length parametor (#1729) feat: add turn signal path backward length parameter
-
fix(roi_cluster_fusion): separate iou threshold for each class (#1730)
- fix(roi_cluster_fusion): separate iou threshold for each class
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(ekf_localizer): change for queue pop on ekf_localizer (#1690) fix: change for queue pop on ekf_localizer
-
Contributors: Masaki Baba, Mehmet Dogru, Motz, Sho Iwasawa, Takagi, Isamu, Yuki TAKAGI, badai nguyen, github-actions
0.49.0 (2025-12-30)
-
Merge remote-tracking branch 'origin/main' into prepare-changelog-0.49.0
-
refactor(ground_segmentation): remove grid_mode_switch_radius (#1720)
-
feat: allow the latest frame from each tlr camera to stay for a little longer (#1718)
- feat: allow the latest frame from each tlr camera to stay for a little longer
- chore: change name to message_lifespan_latest
* fix: instead of adding new parameters, tune the parameter to get the 10Hz system to be stable ---------
-
feat(multi_object_tracker): improve shape unstable object tracking (#1511)
- chore: remove unused max_rad_matrix and replace min_iou_matrix with min_giou_matrix
- style(pre-commit): autofix
- perf: tune distance gate for association of significant shape changed objects
- perf: use tighter association threshold on unknown object
- perf: relax unknown object association threshold to improve robustness
* perf: relax giou threshold for MOTORBIKE chore: rename giou back to iou in config
* style(pre-commit): autofix ---------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>
-
feat(autoware_launch): specify api launch args explicitly (#1719)
- feat(autoware_launch): specify api launch args explicitly
- style(pre-commit): autofix
* fix
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- control_input_objects_topic_name [default: /perception/object_recognition/objects]
- control_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: true]
- tracker_publish_merged_objects [default: false]
- use_camera_vru_detector [default: false]
- camera_vru_detector_rois_ids [default: [0]]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- input_pointcloud_for_traffic_light_occlusion_predictor [default: /sensing/lidar/top/pointcloud_raw_ex]
- camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
- camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
- camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- planning_input_objects_topic_name [default: /perception/object_recognition/objects]
- planning_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- use_sim_time [default: false]
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
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 autoware_launch package
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.50.0 (2026-02-13)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(traffic_light_classifier): add under exposure threshold (#1725)
- add under exposure threshold
* change parameter ---------
-
fix: add argument for traffic light (#1748)
-
feat(autoware_launch): remove tier4 api adapter (#1745) update api option
-
feat(obstacle_stop): add height and size filter (#1742)
-
fix(dummy_perception_publisher): set default pedestrian z position to 0.0m (#1739)
-
feat(avoidance): add parameter for signalling during yield (#1721)
-
feat(behavior_path_planner): add turn_signal_path_backward_length parametor (#1729) feat: add turn signal path backward length parameter
-
fix(roi_cluster_fusion): separate iou threshold for each class (#1730)
- fix(roi_cluster_fusion): separate iou threshold for each class
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(ekf_localizer): change for queue pop on ekf_localizer (#1690) fix: change for queue pop on ekf_localizer
-
Contributors: Masaki Baba, Mehmet Dogru, Motz, Sho Iwasawa, Takagi, Isamu, Yuki TAKAGI, badai nguyen, github-actions
0.49.0 (2025-12-30)
-
Merge remote-tracking branch 'origin/main' into prepare-changelog-0.49.0
-
refactor(ground_segmentation): remove grid_mode_switch_radius (#1720)
-
feat: allow the latest frame from each tlr camera to stay for a little longer (#1718)
- feat: allow the latest frame from each tlr camera to stay for a little longer
- chore: change name to message_lifespan_latest
* fix: instead of adding new parameters, tune the parameter to get the 10Hz system to be stable ---------
-
feat(multi_object_tracker): improve shape unstable object tracking (#1511)
- chore: remove unused max_rad_matrix and replace min_iou_matrix with min_giou_matrix
- style(pre-commit): autofix
- perf: tune distance gate for association of significant shape changed objects
- perf: use tighter association threshold on unknown object
- perf: relax unknown object association threshold to improve robustness
* perf: relax giou threshold for MOTORBIKE chore: rename giou back to iou in config
* style(pre-commit): autofix ---------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>
-
feat(autoware_launch): specify api launch args explicitly (#1719)
- feat(autoware_launch): specify api launch args explicitly
- style(pre-commit): autofix
* fix
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- control_input_objects_topic_name [default: /perception/object_recognition/objects]
- control_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: true]
- tracker_publish_merged_objects [default: false]
- use_camera_vru_detector [default: false]
- camera_vru_detector_rois_ids [default: [0]]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- input_pointcloud_for_traffic_light_occlusion_predictor [default: /sensing/lidar/top/pointcloud_raw_ex]
- camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
- camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
- camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- planning_input_objects_topic_name [default: /perception/object_recognition/objects]
- planning_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- use_sim_time [default: false]
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
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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 autoware_launch package
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.50.0 (2026-02-13)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(traffic_light_classifier): add under exposure threshold (#1725)
- add under exposure threshold
* change parameter ---------
-
fix: add argument for traffic light (#1748)
-
feat(autoware_launch): remove tier4 api adapter (#1745) update api option
-
feat(obstacle_stop): add height and size filter (#1742)
-
fix(dummy_perception_publisher): set default pedestrian z position to 0.0m (#1739)
-
feat(avoidance): add parameter for signalling during yield (#1721)
-
feat(behavior_path_planner): add turn_signal_path_backward_length parametor (#1729) feat: add turn signal path backward length parameter
-
fix(roi_cluster_fusion): separate iou threshold for each class (#1730)
- fix(roi_cluster_fusion): separate iou threshold for each class
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(ekf_localizer): change for queue pop on ekf_localizer (#1690) fix: change for queue pop on ekf_localizer
-
Contributors: Masaki Baba, Mehmet Dogru, Motz, Sho Iwasawa, Takagi, Isamu, Yuki TAKAGI, badai nguyen, github-actions
0.49.0 (2025-12-30)
-
Merge remote-tracking branch 'origin/main' into prepare-changelog-0.49.0
-
refactor(ground_segmentation): remove grid_mode_switch_radius (#1720)
-
feat: allow the latest frame from each tlr camera to stay for a little longer (#1718)
- feat: allow the latest frame from each tlr camera to stay for a little longer
- chore: change name to message_lifespan_latest
* fix: instead of adding new parameters, tune the parameter to get the 10Hz system to be stable ---------
-
feat(multi_object_tracker): improve shape unstable object tracking (#1511)
- chore: remove unused max_rad_matrix and replace min_iou_matrix with min_giou_matrix
- style(pre-commit): autofix
- perf: tune distance gate for association of significant shape changed objects
- perf: use tighter association threshold on unknown object
- perf: relax unknown object association threshold to improve robustness
* perf: relax giou threshold for MOTORBIKE chore: rename giou back to iou in config
* style(pre-commit): autofix ---------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>
-
feat(autoware_launch): specify api launch args explicitly (#1719)
- feat(autoware_launch): specify api launch args explicitly
- style(pre-commit): autofix
* fix
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- control_input_objects_topic_name [default: /perception/object_recognition/objects]
- control_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: true]
- tracker_publish_merged_objects [default: false]
- use_camera_vru_detector [default: false]
- camera_vru_detector_rois_ids [default: [0]]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- input_pointcloud_for_traffic_light_occlusion_predictor [default: /sensing/lidar/top/pointcloud_raw_ex]
- camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
- camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
- camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- planning_input_objects_topic_name [default: /perception/object_recognition/objects]
- planning_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- use_sim_time [default: false]
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
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 autoware_launch package
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.50.0 (2026-02-13)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(traffic_light_classifier): add under exposure threshold (#1725)
- add under exposure threshold
* change parameter ---------
-
fix: add argument for traffic light (#1748)
-
feat(autoware_launch): remove tier4 api adapter (#1745) update api option
-
feat(obstacle_stop): add height and size filter (#1742)
-
fix(dummy_perception_publisher): set default pedestrian z position to 0.0m (#1739)
-
feat(avoidance): add parameter for signalling during yield (#1721)
-
feat(behavior_path_planner): add turn_signal_path_backward_length parametor (#1729) feat: add turn signal path backward length parameter
-
fix(roi_cluster_fusion): separate iou threshold for each class (#1730)
- fix(roi_cluster_fusion): separate iou threshold for each class
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(ekf_localizer): change for queue pop on ekf_localizer (#1690) fix: change for queue pop on ekf_localizer
-
Contributors: Masaki Baba, Mehmet Dogru, Motz, Sho Iwasawa, Takagi, Isamu, Yuki TAKAGI, badai nguyen, github-actions
0.49.0 (2025-12-30)
-
Merge remote-tracking branch 'origin/main' into prepare-changelog-0.49.0
-
refactor(ground_segmentation): remove grid_mode_switch_radius (#1720)
-
feat: allow the latest frame from each tlr camera to stay for a little longer (#1718)
- feat: allow the latest frame from each tlr camera to stay for a little longer
- chore: change name to message_lifespan_latest
* fix: instead of adding new parameters, tune the parameter to get the 10Hz system to be stable ---------
-
feat(multi_object_tracker): improve shape unstable object tracking (#1511)
- chore: remove unused max_rad_matrix and replace min_iou_matrix with min_giou_matrix
- style(pre-commit): autofix
- perf: tune distance gate for association of significant shape changed objects
- perf: use tighter association threshold on unknown object
- perf: relax unknown object association threshold to improve robustness
* perf: relax giou threshold for MOTORBIKE chore: rename giou back to iou in config
* style(pre-commit): autofix ---------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>
-
feat(autoware_launch): specify api launch args explicitly (#1719)
- feat(autoware_launch): specify api launch args explicitly
- style(pre-commit): autofix
* fix
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- control_input_objects_topic_name [default: /perception/object_recognition/objects]
- control_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: true]
- tracker_publish_merged_objects [default: false]
- use_camera_vru_detector [default: false]
- camera_vru_detector_rois_ids [default: [0]]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- input_pointcloud_for_traffic_light_occlusion_predictor [default: /sensing/lidar/top/pointcloud_raw_ex]
- camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
- camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
- camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- planning_input_objects_topic_name [default: /perception/object_recognition/objects]
- planning_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- use_sim_time [default: false]
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
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 autoware_launch package
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.50.0 (2026-02-13)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(traffic_light_classifier): add under exposure threshold (#1725)
- add under exposure threshold
* change parameter ---------
-
fix: add argument for traffic light (#1748)
-
feat(autoware_launch): remove tier4 api adapter (#1745) update api option
-
feat(obstacle_stop): add height and size filter (#1742)
-
fix(dummy_perception_publisher): set default pedestrian z position to 0.0m (#1739)
-
feat(avoidance): add parameter for signalling during yield (#1721)
-
feat(behavior_path_planner): add turn_signal_path_backward_length parametor (#1729) feat: add turn signal path backward length parameter
-
fix(roi_cluster_fusion): separate iou threshold for each class (#1730)
- fix(roi_cluster_fusion): separate iou threshold for each class
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(ekf_localizer): change for queue pop on ekf_localizer (#1690) fix: change for queue pop on ekf_localizer
-
Contributors: Masaki Baba, Mehmet Dogru, Motz, Sho Iwasawa, Takagi, Isamu, Yuki TAKAGI, badai nguyen, github-actions
0.49.0 (2025-12-30)
-
Merge remote-tracking branch 'origin/main' into prepare-changelog-0.49.0
-
refactor(ground_segmentation): remove grid_mode_switch_radius (#1720)
-
feat: allow the latest frame from each tlr camera to stay for a little longer (#1718)
- feat: allow the latest frame from each tlr camera to stay for a little longer
- chore: change name to message_lifespan_latest
* fix: instead of adding new parameters, tune the parameter to get the 10Hz system to be stable ---------
-
feat(multi_object_tracker): improve shape unstable object tracking (#1511)
- chore: remove unused max_rad_matrix and replace min_iou_matrix with min_giou_matrix
- style(pre-commit): autofix
- perf: tune distance gate for association of significant shape changed objects
- perf: use tighter association threshold on unknown object
- perf: relax unknown object association threshold to improve robustness
* perf: relax giou threshold for MOTORBIKE chore: rename giou back to iou in config
* style(pre-commit): autofix ---------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>
-
feat(autoware_launch): specify api launch args explicitly (#1719)
- feat(autoware_launch): specify api launch args explicitly
- style(pre-commit): autofix
* fix
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- control_input_objects_topic_name [default: /perception/object_recognition/objects]
- control_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: true]
- tracker_publish_merged_objects [default: false]
- use_camera_vru_detector [default: false]
- camera_vru_detector_rois_ids [default: [0]]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- input_pointcloud_for_traffic_light_occlusion_predictor [default: /sensing/lidar/top/pointcloud_raw_ex]
- camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
- camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
- camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- planning_input_objects_topic_name [default: /perception/object_recognition/objects]
- planning_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- use_sim_time [default: false]
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
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