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tier4_system_launch package from autoware_launch repo

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

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Package Summary

Version	0.50.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

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

Package Description

The tier4_system_launch package

Maintainers

Fumihito Ito
TetsuKawa

Authors

No additional authors.

tier4_universe_launch/tier4_system_launch/README.md

tier4_system_launch

Structure

tier4_system_launch

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of system.launch.xml.

  <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
    <arg name="run_mode" value="online"/>
    <arg name="sensor_model" value="SENSOR_MODEL"/>

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>

CHANGELOG

Changelog for package tier4_system_launch

0.50.0 (2026-02-13)

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

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
feat(diagnostic_graph_aggregator): "var" substitution support (#11802)
- implement vars substitution
- add test
- update launch
- update doc
- add parameter passing
- fix [build/include_what_you_use]
- format code
- format table
* unify same namespace block Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
- refactor(autoware_diagnostic_graph_aggregator): use YAML map format for graph_vars parameter
* update path.md ---------Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
Contributors: Autumn60, Ryohsuke Mitsudome

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

feat(autoware_pipeline_latency_monitor): add autoware_pipeline_latency_monitor package (#10798)
- feat(sensor_to_control_latency_checker): add node to monitor sensor data latency and publish diagnostics
- feat(sensor_to_control_latency_checker): add offset parameters for processing times in latency calculations
- use end-time based comparison for latency calculation
- move include to src
- refactor to be more generatic (input topics as params)
- add README
- rename package to autoware_pipeline_latency_monitor
- refactor(pipeline_latency_monitor): improve variable naming for clarity in latency calculation
- fix(pipeline_latency_monitor_node): handle negative latency values by treating them as 0.0
- fix(pipeline_latency_monitor_node): improve total latency calculation by skipping steps with no valid data
- fix(pipeline_latency_monitor_node): update debug topic names for latency publishing
- fix(system.launch.xml): update comment for pipeline latency monitor inclusion
- fix(README.md): update output topic names for clarity in latency monitoring
- fix(system.launch.xml): add config_file argument to pipeline latency monitor launch
- feat(package.xml): add dependencies for pipeline latency monitor and other missing packages
* fix(package.xml): reorder license declaration ---------Co-authored-by: Maxime CLEMENT <<maxime.clement@tier4.jp>>
feat(tier4_system_launch): add arg for diag reset remapping (#10953) feat: add arg for diag reset rmapping
Contributors: Kyoichi Sugahara, Tetsuhiro Kawaguchi

0.46.0 (2025-06-20)

Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
feat(launch): add option for control command gate (#10173)
- feat(launch): add option for control command gate
- rename package
- update
- rename flag node name
- feat: add topic args
* default value ---------Co-authored-by: TetsuKawa <<kawaguchitnon@icloud.com>>

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_command_mode_decider
	autoware_command_mode_switcher
	autoware_component_interface_tools
	autoware_component_state_monitor
	autoware_diagnostic_graph_aggregator
	autoware_dummy_diag_publisher
	autoware_duplicated_node_checker
	autoware_hazard_status_converter
	autoware_mrm_comfortable_stop_operator
	autoware_mrm_emergency_stop_operator
	autoware_mrm_handler
	autoware_pipeline_latency_monitor
	autoware_processing_time_checker
	autoware_system_monitor
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_launch
autoware_launch
autoware_launch
autoware_launch
autoware_gazebo_launch
autoware_webots_launch

Launch files

launch/system.launch.xml
- - component_state_monitor_topic_path
  - duplicated_node_checker_param_path
  - processing_time_checker_param_path
  - pipeline_latency_monitor_param_path
  - mrm_comfortable_stop_operator_param_path
  - mrm_emergency_stop_operator_param_path
  - dummy_diag_publisher_param_path
  - system_monitor_cpu_monitor_param_path
  - system_monitor_gpu_monitor_param_path
  - system_monitor_hdd_monitor_param_path
  - system_monitor_mem_monitor_param_path
  - system_monitor_net_monitor_param_path
  - system_monitor_ntp_monitor_param_path
  - system_monitor_process_monitor_param_path
  - system_monitor_voltage_monitor_param_path
  - launch_system_monitor [default: true]
  - launch_dummy_diag_publisher
  - run_mode [default: online]
  - sensor_model
  - mrm_handler_param_path
  - diagnostic_graph_aggregator_param_path
  - diagnostic_graph_aggregator_graph_path
  - diagnostic_graph_aggregator_graph_vars [default: ]
  - diag_struct_topic [default: /diagnostics_graph/struct]
  - diag_status_topic [default: /diagnostics_graph/status]
  - diag_reset_srv [default: /diagnostics_graph/reset]
  - availability_converter_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/converter.param.yaml]
  - command_mode_switcher_param_path [default: $(find-pkg-share autoware_command_mode_switcher)/config/default.param.yaml]
  - command_mode_decider_param_path [default: $(find-pkg-share autoware_command_mode_decider)/config/default.param.yaml]
  - mrm_state_topic [default: /system/fail_safe/mrm_state]
  - change_operation_mode_srv [default: /system/operation_mode/change_operation_mode]
  - change_autoware_control_srv [default: /system/operation_mode/change_autoware_control]
  - launch_rqt_reconfigure [default: false]
  - launch_rqt_runtime_monitor [default: false]
  - launch_rqt_robot_monitor [default: false]
  - launch_rqt_runtime_monitor_err [default: false]
  - use_control_command_gate [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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