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Vehicle Launch Files#


The Autoware vehicle stacks begin launching with autoware_launch.xml as mentioned on the Launch Autoware page, and the tier4_vehicle.launch.xml is called in this context. The following diagram describes some of the Autoware vehicle launch file flow within the autoware_launch and autoware.universe packages.


Autoware vehicle launch flow diagram


The Autoware project is a large project. Therefore, as we manage the Autoware project, we utilize specific arguments in the launch files. ROS 2 offers an argument-overriding feature for these launch files. Please refer to the official ROS 2 launch documentation for further information. For instance, if we define an argument at the top-level launch, it will override the value on lower-level launches.

We don't have many modification options in the vehicle launching files (as the parameters are included in the vehicle_launch repository), but you can choose to disable the vehicle_interface launch. For instance, if you want to run robot_state_publisher but not vehicle_interface, you can launch Autoware with the following command line arguments:

ros2 launch autoware_launch autoware.launch.xml ... launch_vehicle_interface:=false ...

Or you can change it on your autoware.launch.xml launch file:

- <arg name="launch_vehicle_interface" default="true" description="launch vehicle interface"/>
+ <arg name="launch_vehicle_interface" default="false" description="launch vehicle interface"/>