autoware使用的launch文件

1 check.launch

<!-- -->
<launch>

<!-- lane_navi -->
<node pkg="lane_planner" type="lane_navi" name="lane_navi"/>

<!-- lane_rule -->
<node pkg="lane_planner" type="lane_rule" name="lane_rule"/>

<!-- lane_stop -->
<node pkg="lane_planner" type="lane_stop" name="lane_stop"/>

<!-- ndt_matching -->
<node pkg="lidar_localizer" type="ndt_matching" name="ndt_matching"/>

</launch>

2 control.launch

<launch>

<!-- Vehicle Contorl -->
<include file="$(find runtime_manager)/scripts/vehicle_socket.launch"/>

<!-- pure_pursuit -->
<include file="$(find waypoint_follower)/launch/pure_pursuit.launch"/>

</launch>

3 init.launch 

<!-- -->
<launch>

<!-- Tablet UI -->
<include file="$(find runtime_manager)/scripts/tablet_socket.launch"/>

<!-- Vehicle Contorl -->
<include file="$(find runtime_manager)/scripts/vehicle_socket.launch"/>

<!-- TF -->
<include file="$(arg tf_launch)"/>

<!-- Point Cloud -->
<node pkg="map_file" type="points_map_loader" name="points_map_loader" args="$(arg pmap_param) $(arg pcd_files)"/>

<!-- Vector Map -->
<node pkg="map_file" type="vector_map_loader" name="vector_map_loader" args="$(arg csv_files)"/>

<!-- HDL-32e -->
<include file="$(find velodyne)/scripts/velodyne_hdl32e.launch"/>

<!-- Javad Delta 3 -->
<node pkg="javad" type="gnss.sh" name="javad_driver"/>

<!-- PointGrey Grasshopper3 -->
<include file="$(find pointgrey)/scripts/grasshopper3.launch"/>

<!-- nmea2tfpose -->
<node pkg="gnss_localizer" type="nmea2tfpose" name="nmea2tfpose"/>

</launch>

4 map.launch

<launch>

<!-- TF -->
<include file="$(arg tf_launch)"/>

<!-- Point Cloud -->
<node pkg="map_file" type="points_map_loader" name="points_map_loader" args="$(arg pmap_param) $(arg pcd_files)"/>

<!-- Vector Map -->
<node pkg="map_file" type="vector_map_loader" name="vector_map_loader" args="$(arg csv_files)"/>

</launch>

5 perception.launch

<launch>

<!-- nmea2tfpose -->
<node pkg="gnss_localizer" type="nmea2tfpose" name="nmea2tfpose"/>

<!-- ndt_matching -->
<node pkg="lidar_localizer" type="ndt_matching" name="ndt_matching"/>

<!-- vscan -->
<include file="$(find runtime_manager)/scripts/vscan.launch">
<arg name="file" value="/home/pdsljp/.autoware/data/calibration/camera_lidar_3d/prius/nic-150407.yml"/>
</include>

<!-- dpm_ttic -->
<node pkg="vision_dpm_ttic_detect" type="dpm_ttic" name="dpm_ttic"/>

<!-- car_kf -->
<node pkg="car_detector" type="car_kf" name="car_kf"/>

<!-- car_fusion -->
<node pkg="car_detector" type="car_fusion" name="car_fusion"/>

<!-- car_locate -->
<include file="$(find car_detector)/launch/car_locate.launch"/>

<!-- pedestrian_kf -->
<node pkg="pedestrian_detector" type="pedestrian_kf" name="pedestrian_kf"/>

<!-- pedestrian_fusion -->
<node pkg="pedestrian_detector" type="pedestrian_fusion" name="pedestrian_fusion"/>

<!-- pedestrian_locate -->
<include file="$(find pedestrian_detector)/launch/pedestrian_locate.launch"/>

</launch>

6  planning.launch

<launch>

<!-- Tablet UI -->
<include file="$(find runtime_manager)/scripts/tablet_socket.launch"/>

<!-- lane_navi -->
<node pkg="lane_planner" type="lane_navi" name="lane_navi"/>

<!-- lane_rule -->
<node pkg="lane_planner" type="lane_rule" name="lane_rule"/>

<!-- lane_stop -->
<node pkg="lane_planner" type="lane_stop" name="lane_stop"/>

</launch>

7 sensor.launch

<launch>

<!-- HDL-32e -->
<include file="$(find velodyne)/scripts/velodyne_hdl32e.launch"/>

<!-- Javad Delta 3 -->
<node pkg="javad" type="gnss.sh" name="javad_driver"/>

<!-- PointGrey Grasshopper3 -->
<include file="$(find pointgrey)/scripts/grasshopper3.launch"/>

</launch>

8 set.launch

<!-- -->
<launch>

<!-- pure_pursuit -->
<include file="$(find waypoint_follower)/launch/pure_pursuit.launch"/>

</launch>

9 veld.launch

<!-- -*- mode: XML -*- -->
<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager for an VLP-32C -->

<launch>

  <!-- declare arguments with default values -->
  <arg name="calibration" default="$(find velodyne_pointcloud)/params/VeloView-VLP-32C.yaml"/>
  <arg name="device_ip" default="" />
  <arg name="frame_id" default="velodyne" />
  <arg name="manager" default="$(arg frame_id)_nodelet_manager" />
  <arg name="max_range" default="130.0" />
  <arg name="min_range" default="0.4" />
  <arg name="pcap" default="" />
  <arg name="port" default="2368" />
  <arg name="read_fast" default="false" />
  <arg name="read_once" default="false" />
  <arg name="repeat_delay" default="0.0" />
  <arg name="rpm" default="600.0" />
  <arg name="laserscan_ring" default="-1" />
  <arg name="laserscan_resolution" default="0.007" />
  <arg name="topic_name" default="points_raw"/>

  <!-- start nodelet manager and driver nodelets -->
  <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
    <arg name="device_ip" value="$(arg device_ip)"/>
    <arg name="frame_id" value="$(arg frame_id)"/>
    <arg name="manager" value="$(arg manager)" />
    <arg name="model" value="32C"/>
    <arg name="pcap" value="$(arg pcap)"/>
    <arg name="port" value="$(arg port)"/>
    <arg name="read_fast" value="$(arg read_fast)"/>
    <arg name="read_once" value="$(arg read_once)"/>
    <arg name="repeat_delay" value="$(arg repeat_delay)"/>
    <arg name="rpm" value="$(arg rpm)"/>
  </include>

  <!-- start cloud nodelet -->
  <node pkg="nodelet" type="nodelet" name="cloud_nodelet"
        args="load velodyne_pointcloud/CloudNodelet velodyne_nodelet_manager">
    <param name="calibration" value="$(arg calibration)"/>
    <param name="min_range" value="$(arg min_range)"/>
    <param name="max_range" value="$(arg max_range)"/>
    <remap from="velodyne_points" to="$(arg topic_name)"/>
  </node>
  
</launch>