diff --git a/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml b/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml new file mode 100644 index 0000000000..f612b3740f --- /dev/null +++ b/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml @@ -0,0 +1,545 @@ +/**: + ros__parameters: + common: + database_storage: "sqlite3" # sqlite3 or mcap + maximum_record_time: 36000 # seconds + maximum_allowed_bag_storage_size: 500.0 # GB + maximum_bag_file_size: 20.0 # GB + enable_only_auto_mode_recording: false # if enabled, recording occurs only "AUTO" mode + record_all_topic_in_a_bag: true # creates single bag file with all sections + number_of_maximum_bags: 1000 # limit of stored bag file count + path: "bags/" # Path to bag file for saving + minimum_acceptable_disk_space: 50 # GB + disk_space_threshold_action: "shutdown" # [remove, shutdown] remove files or shutdown node + api_modules: + record_api: false + api_topics: + - /api/autoware/get/emergency + - /api/autoware/get/engage + - /api/autoware/get/map/info/hash + - /api/external/get/command/selected/control + - /api/external/get/rtc_status + - /api/external/set/command/local/control + - /api/external/set/command/local/heartbeat + - /api/external/set/command/local/shift + - /api/external/set/command/local/turn_signal + - /api/external/set/command/remote/control + - /api/external/set/command/remote/heartbeat + - /api/external/set/command/remote/shift + - /api/external/set/command/remote/turn_signal + - /api/fail_safe/mrm_state + - /api/localization/initialization_state + - /api/motion/state + - /api/operation_mode/state + - /api/perception/objects + - /api/planning/steering_factors + - /api/planning/velocity_factors + - /api/routing/route + - /api/routing/state + - /api/vehicle/kinematics + - /api/vehicle/status + autoware_modules: + record_autoware: false + autoware_topics: + - /autoware/engage + - /autoware/state + - /autoware_orientation + control_modules: + record_control: false + control_topics: + - /control/command/control_cmd + - /control/command/emergency_cmd + - /control/command/gear_cmd + - /control/command/hazard_lights_cmd + - /control/command/turn_indicators_cmd + - /control/control_validator/debug/marker + - /control/control_validator/output/markers + - /control/control_validator/validation_status + - /control/control_validator/virtual_wall + - /control/current_gate_mode + - /control/external_cmd_selector/current_selector_mode + - /control/gate_mode_cmd + - /control/operation_mode_transition_manager/debug_info + - /control/shift_decider/gear_cmd + - /control/trajectory_follower/control_cmd + - /control/trajectory_follower/controller_node_exe/output/debug_marker + - /control/trajectory_follower/controller_node_exe/output/estimated_steer_offset + - /control/trajectory_follower/lane_departure_checker_node/debug/processing_time_ms + - /control/trajectory_follower/lateral/diagnostic + - /control/trajectory_follower/lateral/predicted_trajectory + - /control/trajectory_follower/longitudinal/diagnostic + - /control/trajectory_follower/longitudinal/slope_angle + - /control/vehicle_cmd_gate/is_paused + - /control/vehicle_cmd_gate/is_start_requested + - /control/vehicle_cmd_gate/is_stopped + - /control/vehicle_cmd_gate/operation_mode + external_modules: + record_external: false + external_topics: + - /external/selected/control_cmd + - /external/selected/external_control_cmd + - /external/selected/gear_cmd + - /external/selected/hazard_lights_cmd + - /external/selected/heartbeat + - /external/selected/turn_indicators_cmd + localization_modules: + record_localization: false + localization_topics: + - /initialpose + - /initialpose3d + - /localization/acceleration + - /localization/debug/ellipse_marker + - /localization/initialization_state + - /localization/kinematic_state + - /localization/pose_estimator/debug/loaded_pointcloud_map + - /localization/pose_estimator/exe_time_ms + - /localization/pose_estimator/initial_pose_with_covariance + - /localization/pose_estimator/initial_to_result_distance + - /localization/pose_estimator/initial_to_result_distance_new + - /localization/pose_estimator/initial_to_result_distance_old + - /localization/pose_estimator/iteration_num + - /localization/pose_estimator/monte_carlo_initial_pose_marker + - /localization/pose_estimator/ndt_marker + - /localization/pose_estimator/nearest_voxel_transformation_likelihood + - /localization/pose_estimator/no_ground_nearest_voxel_transformation_likelihood + - /localization/pose_estimator/no_ground_transform_probability + - /localization/pose_estimator/points_aligned + - /localization/pose_estimator/points_aligned_no_ground + - /localization/pose_estimator/pose + - /localization/pose_estimator/pose_with_covariance + - /localization/pose_estimator/transform_probability + - /localization/pose_twist_fusion_filter/biased_pose + - /localization/pose_twist_fusion_filter/biased_pose_with_covariance + - /localization/pose_twist_fusion_filter/debug + - /localization/pose_twist_fusion_filter/debug/measured_pose + - /localization/pose_twist_fusion_filter/debug/stop_flag + - /localization/pose_twist_fusion_filter/estimated_yaw_bias + - /localization/pose_twist_fusion_filter/kinematic_state + - /localization/pose_twist_fusion_filter/pose + - /localization/pose_twist_fusion_filter/twist + - /localization/pose_twist_fusion_filter/twist_with_covariance + - /localization/pose_with_covariance + - /localization/twist_estimator/gyro_twist + - /localization/twist_estimator/gyro_twist_raw + - /localization/twist_estimator/twist_with_covariance + - /localization/twist_estimator/twist_with_covariance_raw + - /localization/util/crop_box_filter/debug/cyclic_time_ms + - /localization/util/crop_box_filter/debug/processing_time_ms + - /localization/util/crop_box_filter_measurement_range/crop_box_polygon + - /localization/util/downsample/pointcloud + - /localization/util/measurement_range/pointcloud + - /localization/util/voxel_grid_downsample/pointcloud + map_modules: + record_map: false + map_topics: + - /map/map_projector_type + - /map/pointcloud_map + - /map/vector_map + - /map/vector_map_marker + perception_modules: + record_perception: false + perception_topics: + - /perception/object_recognition/detection/centerpoint/lidar_centerpoint/debug/cyclic_time_ms + - /perception/object_recognition/detection/centerpoint/lidar_centerpoint/debug/processing_time_ms + - /perception/object_recognition/detection/centerpoint/objects + - /perception/object_recognition/detection/centerpoint/validation/objects + - /perception/object_recognition/detection/clustering/clusters + - /perception/object_recognition/detection/clustering/debug/clusters + - /perception/object_recognition/detection/clustering/objects + - /perception/object_recognition/detection/clustering/objects_with_feature + - /perception/object_recognition/detection/debug/downsampled_map/pointcloud + - /perception/object_recognition/detection/detection_by_tracker/debug/divided_objects + - /perception/object_recognition/detection/detection_by_tracker/debug/initial_objects + - /perception/object_recognition/detection/detection_by_tracker/debug/merged_objects + - /perception/object_recognition/detection/detection_by_tracker/debug/tracked_objects + - /perception/object_recognition/detection/detection_by_tracker/objects + - /perception/object_recognition/detection/objects + - /perception/object_recognition/detection/objects_before_filter + - /perception/object_recognition/detection/pointcloud_map_filtered/pointcloud + - /perception/object_recognition/detection/temporary_merged_objects + - /perception/object_recognition/detection/voxel_based_compare_map_filter/debug/cyclic_time_ms + - /perception/object_recognition/detection/voxel_based_compare_map_filter/debug/processing_time_ms + - /perception/object_recognition/objects + - /perception/object_recognition/prediction/maneuver + - /perception/object_recognition/prediction/map_based_prediction/debug/calculation_time + - /perception/object_recognition/tracking/objects + - /perception/obstacle_segmentation/crop_box_filter/crop_box_polygon + - /perception/obstacle_segmentation/crop_box_filter/debug/cyclic_time_ms + - /perception/obstacle_segmentation/crop_box_filter/debug/processing_time_ms + - /perception/obstacle_segmentation/occupancy_grid_map_outlier_filter/debug/cyclic_time_ms + - /perception/obstacle_segmentation/occupancy_grid_map_outlier_filter/debug/processing_time_ms + - /perception/obstacle_segmentation/pointcloud + - /perception/obstacle_segmentation/range_cropped/pointcloud + - /perception/obstacle_segmentation/scan_ground_filter/debug/cyclic_time_ms + - /perception/obstacle_segmentation/scan_ground_filter/debug/processing_time_ms + - /perception/obstacle_segmentation/single_frame/pointcloud_raw + - /perception/occupancy_grid_map/map + - /perception/occupancy_grid_map/map_updates + - /perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map/debug/cyclic_time_ms + - /perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map/debug/processing_time_ms + - /perception/traffic_light_recognition/camera6/camera_info + - /perception/traffic_light_recognition/camera6/classification/classified/traffic_signals + - /perception/traffic_light_recognition/camera6/classification/estimated/traffic_signals + - /perception/traffic_light_recognition/camera6/classification/traffic_light_classifier/output/debug/image + - /perception/traffic_light_recognition/camera6/classification/traffic_light_classifier/output/debug/image/compressed + - /perception/traffic_light_recognition/camera6/classification/traffic_light_classifier/output/debug/image/compressedDepth + - /perception/traffic_light_recognition/camera6/classification/traffic_light_classifier/output/debug/image/theora + - /perception/traffic_light_recognition/camera6/classification/traffic_signals + - /perception/traffic_light_recognition/camera6/debug/rois + - /perception/traffic_light_recognition/camera6/debug/rois/compressed + - /perception/traffic_light_recognition/camera6/debug/rois/compressedDepth + - /perception/traffic_light_recognition/camera6/debug/rois/theora + - /perception/traffic_light_recognition/camera6/detection/expect/rois + - /perception/traffic_light_recognition/camera6/detection/rois + - /perception/traffic_light_recognition/camera6/detection/rough/rois + - /perception/traffic_light_recognition/camera6/detection/traffic_light_fine_detector/debug/exe_time_ms + - /perception/traffic_light_recognition/camera6/detection/traffic_light_map_based_detector/debug/markers + - /perception/traffic_light_recognition/external/traffic_signals + - /perception/traffic_light_recognition/internal/traffic_signals + - /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers + - /perception/traffic_light_recognition/traffic_signals + - /perception/traffic_light_recognition/traffic_signals/markers + planning_modules: + record_planning: false + planning_topics: + - /planning/cooperate_status/avoidance_by_lane_change_left + - /planning/cooperate_status/avoidance_by_lane_change_right + - /planning/cooperate_status/avoidance_left + - /planning/cooperate_status/avoidance_right + - /planning/cooperate_status/blind_spot + - /planning/cooperate_status/crosswalk + - /planning/cooperate_status/detection_area + - /planning/cooperate_status/external_request_lane_change_left + - /planning/cooperate_status/external_request_lane_change_right + - /planning/cooperate_status/goal_planner + - /planning/cooperate_status/intersection + - /planning/cooperate_status/intersection_occlusion + - /planning/cooperate_status/lane_change_left + - /planning/cooperate_status/lane_change_right + - /planning/cooperate_status/no_stopping_area + - /planning/cooperate_status/occlusion_spot + - /planning/cooperate_status/start_planner + - /planning/cooperate_status/traffic_light + - /planning/cooperate_status/virtual_traffic_light + - /planning/hazard_lights_cmd + - /planning/mission_planning/checkpoint + - /planning/mission_planning/debug/goal_footprint + - /planning/mission_planning/echo_back_goal_pose + - /planning/mission_planning/goal + - /planning/mission_planning/mrm_route + - /planning/mission_planning/normal_route + - /planning/mission_planning/route + - /planning/mission_planning/route_marker + - /planning/mission_planning/route_state + - /planning/path_candidate/avoidance + - /planning/path_candidate/avoidance_by_lane_change + - /planning/path_candidate/external_request_lane_change_left + - /planning/path_candidate/external_request_lane_change_right + - /planning/path_candidate/goal_planner + - /planning/path_candidate/lane_change + - /planning/path_candidate/lane_change_left + - /planning/path_candidate/lane_change_right + - /planning/path_candidate/side_shift + - /planning/path_candidate/start_planner + - /planning/path_reference/avoidance + - /planning/path_reference/avoidance_by_lane_change + - /planning/path_reference/goal_planner + - /planning/path_reference/lane_change_left + - /planning/path_reference/lane_change_right + - /planning/path_reference/side_shift + - /planning/path_reference/start_planner + - /planning/planning_validator/debug/marker + - /planning/planning_validator/output/markers + - /planning/planning_validator/validation_status + - /planning/planning_validator/virtual_wall + - /planning/scenario_planning/clear_velocity_limit + - /planning/scenario_planning/current_max_velocity + - /planning/scenario_planning/external_velocity_limit_selector/debug + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_by_lane_change + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_debug_message_array + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_debug_message_array + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/turn_signal_info + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/avoidance + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/avoidance_by_lane_change + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/goal_planner + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/lane_change_left + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/lane_change_right + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/side_shift + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/start_planner + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance_by_lane_change + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/goal_planner + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_left + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_right + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/side_shift + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/start_planner + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/input/lateral_offset + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/maximum_drivable_area + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/output/is_reroute_available + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance_by_lane_change + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_left + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_right + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/goal_planner + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_left + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_right + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/side_shift + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/start_planner + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/merge_from_private + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/merge_from_private/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/walkway + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/walkway/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/output/stop_reason + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/blind_spot + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/detection_area + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/intersection + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/merge_from_private + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_stopping_area + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/occlusion_spot + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/run_out + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/stop_line + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/traffic_light + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/virtual_traffic_light + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/walkway + - /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal + - /planning/scenario_planning/lane_driving/behavior_planning/output/auto_mode_statuses + - /planning/scenario_planning/lane_driving/behavior_planning/path + - /planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id + - /planning/scenario_planning/lane_driving/motion_planning/debug_markers + - /planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/debug/calculation_time + - /planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/debug/eb_fixed_traj + - /planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/debug/eb_traj + - /planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/debug/extended_traj + - /planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/output/traj + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/calculation_time + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/extended_traj + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/mpt_fixed_traj + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/mpt_ref_traj + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/mpt_traj + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control/debug_values + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/collision_pointcloud + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/obstacle_pointcloud + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/input/expand_stop_range + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop/debug_values + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/virtual_wall + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/output/runtime_microseconds + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/trajectory + - /planning/scenario_planning/lane_driving/motion_planning/path_smoother/path + - /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint + - /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_offset + - /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset + - /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker + - /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/virtual_wall + - /planning/scenario_planning/lane_driving/trajectory + - /planning/scenario_planning/max_velocity + - /planning/scenario_planning/max_velocity_candidates + - /planning/scenario_planning/max_velocity_default + - /planning/scenario_planning/modified_goal + - /planning/scenario_planning/motion_velocity_smoother/calculation_time + - /planning/scenario_planning/motion_velocity_smoother/closest_acceleration + - /planning/scenario_planning/motion_velocity_smoother/closest_jerk + - /planning/scenario_planning/motion_velocity_smoother/closest_max_velocity + - /planning/scenario_planning/motion_velocity_smoother/closest_merged_velocity + - /planning/scenario_planning/motion_velocity_smoother/closest_velocity + - /planning/scenario_planning/motion_velocity_smoother/debug/backward_filtered_trajectory + - /planning/scenario_planning/motion_velocity_smoother/debug/forward_filtered_trajectory + - /planning/scenario_planning/motion_velocity_smoother/debug/merged_filtered_trajectory + - /planning/scenario_planning/motion_velocity_smoother/debug/trajectory_external_velocity_limited + - /planning/scenario_planning/motion_velocity_smoother/debug/trajectory_lateral_acc_filtered + - /planning/scenario_planning/motion_velocity_smoother/debug/trajectory_raw + - /planning/scenario_planning/motion_velocity_smoother/debug/trajectory_steering_rate_limited + - /planning/scenario_planning/motion_velocity_smoother/debug/trajectory_time_resampled + - /planning/scenario_planning/motion_velocity_smoother/distance_to_stopline + - /planning/scenario_planning/motion_velocity_smoother/stop_speed_exceeded + - /planning/scenario_planning/motion_velocity_smoother/trajectory + - /planning/scenario_planning/parking/costmap_generator/grid_map + - /planning/scenario_planning/parking/costmap_generator/occupancy_grid + - /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array + - /planning/scenario_planning/parking/freespace_planner/debug/pose_array + - /planning/scenario_planning/parking/is_completed + - /planning/scenario_planning/parking/trajectory + - /planning/scenario_planning/scenario + - /planning/scenario_planning/scenario_selector/trajectory + - /planning/scenario_planning/status/infrastructure_commands + - /planning/scenario_planning/status/no_start_reason + - /planning/scenario_planning/status/stop_reason + - /planning/scenario_planning/status/stop_reasons + - /planning/scenario_planning/trajectory + - /planning/steering_factor/avoidance + - /planning/steering_factor/avoidance_by_lane_change + - /planning/steering_factor/goal_planner + - /planning/steering_factor/intersection + - /planning/steering_factor/lane_change + - /planning/steering_factor/lane_change_left + - /planning/steering_factor/lane_change_right + - /planning/steering_factor/side_shift + - /planning/steering_factor/start_planner + - /planning/turn_indicators_cmd + - /planning/velocity_factors/blind_spot + - /planning/velocity_factors/crosswalk + - /planning/velocity_factors/detection_area + - /planning/velocity_factors/intersection + - /planning/velocity_factors/merge_from_private + - /planning/velocity_factors/no_stopping_area + - /planning/velocity_factors/obstacle_cruise + - /planning/velocity_factors/obstacle_stop + - /planning/velocity_factors/occlusion_spot + - /planning/velocity_factors/out_of_lane + - /planning/velocity_factors/stop_line + - /planning/velocity_factors/surround_obstacle + - /planning/velocity_factors/traffic_light + - /planning/velocity_factors/virtual_traffic_light + - /planning/velocity_factors/walkway + sensing_modules: + record_sensing: false + sensing_topics: + - /sensing/camera/camera6/camera_info + - /sensing/camera/camera6/image_raw + - /sensing/camera/camera6/image_raw/compressed + - /sensing/gnss/fixed + - /sensing/gnss/pose + - /sensing/gnss/pose_with_covariance + - /sensing/gnss/ublox/fix_velocity + - /sensing/gnss/ublox/nav_sat_fix + - /sensing/gnss/ublox/navpvt + - /sensing/imu/imu_data + - /sensing/imu/tamagawa/imu_raw + - /sensing/lidar/concatenate_data_synchronizer/debug/cyclic_time_ms + - /sensing/lidar/concatenate_data_synchronizer/debug/processing_time_ms + - /sensing/lidar/concatenated/pointcloud + # /sensing/lidar/left/crop_box_filter/debug/cyclic_time_ms + # /sensing/lidar/left/crop_box_filter/debug/processing_time_ms + # /sensing/lidar/left/crop_box_filter_mirror/crop_box_polygon + # /sensing/lidar/left/crop_box_filter_self/crop_box_polygon + # /sensing/lidar/left/distortion_corrector/debug/cyclic_time_ms + # /sensing/lidar/left/distortion_corrector/debug/processing_time_ms + # /sensing/lidar/left/mirror_cropped/pointcloud_ex + # /sensing/lidar/left/outlier_filtered/pointcloud + # /sensing/lidar/left/outlier_filtered/pointcloud_synchronized + # /sensing/lidar/left/pointcloud_raw + # /sensing/lidar/left/pointcloud_raw_ex + # /sensing/lidar/left/rectified/pointcloud_ex + # /sensing/lidar/left/ring_outlier_filter/debug/cyclic_time_ms + # /sensing/lidar/left/ring_outlier_filter/debug/processing_time_ms + # /sensing/lidar/left/self_cropped/pointcloud_ex + # /sensing/lidar/left/velodyne_model_marker + # /sensing/lidar/left/velodyne_packets + # /sensing/lidar/rear/crop_box_filter_mirror/crop_box_polygon + # /sensing/lidar/rear/crop_box_filter_self/crop_box_polygon + # /sensing/lidar/rear/mirror_cropped/pointcloud_ex + # /sensing/lidar/rear/outlier_filtered/pointcloud + # /sensing/lidar/rear/pointcloud_raw + # /sensing/lidar/rear/pointcloud_raw_ex + # /sensing/lidar/rear/rectified/pointcloud_ex + # /sensing/lidar/rear/self_cropped/pointcloud_ex + # /sensing/lidar/rear/velodyne_model_marker + # /sensing/lidar/rear/velodyne_packets + # /sensing/lidar/right/crop_box_filter/debug/cyclic_time_ms + # /sensing/lidar/right/crop_box_filter/debug/processing_time_ms + # /sensing/lidar/right/crop_box_filter_mirror/crop_box_polygon + # /sensing/lidar/right/crop_box_filter_self/crop_box_polygon + # /sensing/lidar/right/distortion_corrector/debug/cyclic_time_ms + # /sensing/lidar/right/distortion_corrector/debug/processing_time_ms + # /sensing/lidar/right/mirror_cropped/pointcloud_ex + # /sensing/lidar/right/outlier_filtered/pointcloud + # /sensing/lidar/right/outlier_filtered/pointcloud_synchronized + # /sensing/lidar/right/pointcloud_raw + # /sensing/lidar/right/pointcloud_raw_ex + # /sensing/lidar/right/rectified/pointcloud_ex + # /sensing/lidar/right/ring_outlier_filter/debug/cyclic_time_ms + # /sensing/lidar/right/ring_outlier_filter/debug/processing_time_ms + # /sensing/lidar/right/self_cropped/pointcloud_ex + # /sensing/lidar/right/velodyne_model_marker + # /sensing/lidar/right/velodyne_packets + # /sensing/lidar/top/crop_box_filter/debug/cyclic_time_ms + # /sensing/lidar/top/crop_box_filter/debug/processing_time_ms + # /sensing/lidar/top/crop_box_filter_mirror/crop_box_polygon + # /sensing/lidar/top/crop_box_filter_self/crop_box_polygon + # /sensing/lidar/top/distortion_corrector/debug/cyclic_time_ms + # /sensing/lidar/top/distortion_corrector/debug/processing_time_ms + # /sensing/lidar/top/mirror_cropped/pointcloud_ex + # /sensing/lidar/top/outlier_filtered/pointcloud + # /sensing/lidar/top/outlier_filtered/pointcloud_synchronized + # /sensing/lidar/top/pointcloud_raw + # /sensing/lidar/top/pointcloud_raw_ex + # /sensing/lidar/top/rectified/pointcloud_ex + # /sensing/lidar/top/ring_outlier_filter/debug/cyclic_time_ms + # /sensing/lidar/top/ring_outlier_filter/debug/processing_time_ms + # /sensing/lidar/top/self_cropped/pointcloud_ex + # /sensing/lidar/top/velodyne_model_marker + # /sensing/lidar/top/velodyne_packets + - /sensing/vehicle_velocity_converter/twist_with_covariance + system_modules: + record_system: false + system_topics: + - /system/component_state_monitor/component/autonomous/control + - /system/component_state_monitor/component/autonomous/localization + - /system/component_state_monitor/component/autonomous/map + - /system/component_state_monitor/component/autonomous/perception + - /system/component_state_monitor/component/autonomous/planning + - /system/component_state_monitor/component/autonomous/sensing + - /system/component_state_monitor/component/autonomous/system + - /system/component_state_monitor/component/autonomous/vehicle + - /system/component_state_monitor/component/launch/control + - /system/component_state_monitor/component/launch/localization + - /system/component_state_monitor/component/launch/map + - /system/component_state_monitor/component/launch/perception + - /system/component_state_monitor/component/launch/planning + - /system/component_state_monitor/component/launch/sensing + - /system/component_state_monitor/component/launch/system + - /system/component_state_monitor/component/launch/vehicle + - /system/emergency/control_cmd + - /system/emergency/gear_cmd + - /system/emergency/hazard_lights_cmd + - /system/emergency/hazard_status + - /system/emergency_handler/output/control_command + - /system/fail_safe/mrm_state + - /system/mrm/comfortable_stop/status + - /system/mrm/emergency_stop/status + - /system/operation_mode/state + vehicle_modules: + record_vehicle: false + vehicle_topics: + - /joint_states + - /robot_description + - /tf + - /tf_static + - /vehicle/status/battery_charge + - /vehicle/status/control_mode + - /vehicle/status/gear_status + - /vehicle/status/hazard_lights_status + - /vehicle/status/steering_status + - /vehicle/status/turn_indicators_status + - /vehicle/status/velocity_status diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 1a4fbb70f4..310427ad8d 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -36,6 +36,7 @@ + @@ -118,5 +119,8 @@ if="$(var rviz)" respawn="$(var rviz_respawn)" /> + + +