System Launch Files

Overview

The Autoware system stacks start launching at autoware_launch.xml as we mentioned at Launch Autoware page. The autoware_launch package includes tier4_system_component.launch.xml for starting system launch files invocation from autoware_launch.xml. This diagram describes some of the Autoware system launch files flow at autoware_launch and autoware.universe packages.

Autoware system launch flow diagram

Note

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.

As described in the flow diagram of the system launch pipeline, the system.launch.xml from the tier4_system_launch package directly launches the following packages:

• system_monitor
• component_interface_tools
• component_state_monitor
• system_error_monitor
• emergency_handler
• duplicated_node_checker
• mrm_comfortable_stop_operator
• mrm_emergency_stop_operator
• dummy_diag_publisher

We don't have many modification options in the system launching files (as the parameters are included in config files), but you can modify the file path for the system_error_monitor parameter. For instance, if you want to change the path for your system_error_monitor.param.yaml file, you can run Autoware with the following command line argument:

ros2 launch autoware_launch autoware.launch.xml ... system_error_monitor_param_path:=<YOUR-SYSTEM-ERROR-PARAM-PATH> ...

Or you can change it on your tier4_system_component.launch.xml launch file:

- <arg name="system_error_monitor_param_path" default="$(find-pkg-share autoware_launch)/config/..."/>
+ <arg name="system_error_monitor_param_path" default="<YOUR-SYSTEM-ERROR-PARAM-PATH>"/>