carla_ad_demo_with_scenario.launch

<!-- -->
<launch>
  <!-- carla parameter -->
  <arg name='host' default='localhost'/> <!-- host the carla server is running on -->
  <arg name='port' default='2000'/> <!-- port of the carla server -->
  <arg name="town" default="Town01"/> <!-- the carla town to load-->
  <arg name='timeout' default='10'/> <!-- the carla timeout for server communication -->
  <arg name='synchronous_mode' default='True'/> <!-- should the synchronous mode be used? Enable to get reproducible results independent of the system workload -->
  <arg name='synchronous_mode_wait_for_vehicle_control_command' default='False'/><!-- should the ros bridge wait for a vehicle control command before proceeding with the next tick -->
  <arg name='fixed_delta_seconds' default='0.05'/><!-- frequency of the carla ticks -->

  <!-- scenario runner parameter -->
  <arg name='scenario_runner_path' default='$(env SCENARIO_RUNNER_PATH)'/><!-- path to scenario runner -->

  <!-- ego vehicle parameter -->
  <arg name="role_name" default="ego_vehicle"/> <!-- role name of the ego vehicle (used for identification in many nodes) -->
  <arg name="vehicle_filter" default="vehicle.tesla.model3"/> <!-- which vehicle type to use for the ego. See blueprint library for others -->
  <arg name="avoid_risk" default="True"/> <!-- should the agent avoid crashs and respect red traffic lights? -->

  <!-- spectator camera parameter -->
  <arg name='resolution_x' default='800'/> <!-- width of the spectator camera image -->
  <arg name='resolution_y' default='600'/> <!-- height of the spectator camera image -->
  <arg name='fov' default='50'/> <!-- field of view of the spectator camera. -->

  <!-- ===================================================== -->

  <!-- The ros bridge -->
  <include file="$(find carla_ros_bridge)/launch/carla_ros_bridge.launch">
    <arg name='host' value='$(arg host)'/>
    <arg name='port' value='$(arg port)'/>
    <arg name='town' value='$(arg town)'/>
    <arg name='timeout' value='$(arg timeout)'/>
    <arg name='synchronous_mode' value='$(arg synchronous_mode)'/>
    <arg name='synchronous_mode_wait_for_vehicle_control_command' value='$(arg synchronous_mode_wait_for_vehicle_control_command)'/>
    <arg name='fixed_delta_seconds' value='$(arg fixed_delta_seconds)'/>
  </include>

  <!-- the ego vehicle, that will be controlled by the carla_ad_agent -->
  <include file="$(find carla_ego_vehicle)/launch/carla_example_ego_vehicle.launch">
    <arg name='host' value='$(arg host)'/>
    <arg name='port' value='$(arg port)'/>
    <arg name='timeout' value='$(arg timeout)'/>
    <arg name="vehicle_filter" value='$(arg vehicle_filter)'/>
    <arg name="sensor_definition_file" default="$(find carla_ad_demo)/config/sensors.json"/>
    <arg name='role_name' value='$(arg role_name)'/>
  </include>

  <!-- Provide a route and access to the CARLA waypoint API (required by carla_ad_agent) -->
  <include file="$(find carla_waypoint_publisher)/launch/carla_waypoint_publisher.launch">
    <arg name='host' value='$(arg host)'/>
    <arg name='port' value='$(arg port)'/>
    <arg name='timeout' value='$(arg timeout)'/>
    <arg name='role_name' value='$(arg role_name)'/>
  </include>

  <!-- a spectator camera that is attached to the ego vehicle and be controlled from within rviz -->
  <include file="$(find carla_spectator_camera)/launch/carla_spectator_camera.launch">
    <arg name='host' value='$(arg host)'/>
    <arg name='port' value='$(arg port)'/>
    <arg name='timeout' value='$(arg timeout)'/>
    <arg name="role_name" value="$(arg role_name)"/>
    <arg name="resolution_x" value="$(arg resolution_x)"/>
    <arg name="resolution_y" value="$(arg resolution_y)"/>
    <arg name="fov" value="$(arg fov)"/>
  </include>

  <!-- To be able to maneuver with rviz, this node converts twist to vehicle control commands -->
  <node pkg="carla_twist_to_control" type="carla_twist_to_control.py" name="carla_twist_to_control">
    <remap from="/carla/$(arg role_name)/vehicle_control_cmd" to="/carla/$(arg role_name)/vehicle_control_cmd_manual"/>
    <param name="role_name" value="$(arg role_name)"/>
  </node>

  <!-- Scenario Runner and an example scenario-->
  <node pkg="rostopic" type="rostopic" name="publish_scenarios"
    args="pub /carla/available_scenarios carla_ros_scenario_runner_types/CarlaScenarioList '{ 'scenarios':  
      [
        {
          'name': 'FollowLeadingVehicle',
          'scenario_file': '$(find carla_ad_demo)/config/FollowLeadingVehicle.xosc'
        }
      ]
    }' -l"/>
  <include file="$(find carla_ros_scenario_runner)/launch/carla_ros_scenario_runner.launch">
    <arg name='host' value='$(arg host)'/>
    <arg name='port' value='$(arg port)'/>
    <arg name="role_name" value="$(arg role_name)"/>
    <arg name="scenario_runner_path" value="$(arg scenario_runner_path)"/>
    <arg name="wait_for_ego" value="True"/>
  </include>

  <!-- Rviz visualization-->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find carla_ad_demo)/config/carla_ad_demo.rviz" required="true" output="screen"/>

</launch>