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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,21 +1,22 @@ | ||
| # cspell: ignore TIERIV | ||
|
|
||
| nav: | ||
| - About: About.md | ||
| - AutowareAPI.md | ||
| - BehaviorPlugin.md | ||
| - CONTRIBUTING.md | ||
| - Communication.md | ||
| - ConfiguringLocalizationTopics.md | ||
| - ConfiguringPerceptionTopics.md | ||
| - DistanceCalculation.md | ||
| - Lane Pose Calculation: lane_pose_calculation | ||
| - ManualOverrideWithFollowTrajectoryAction.md | ||
| - NPCBehavior.md | ||
| - BehaviorPlugin.md | ||
| # - ErrorCategories.md | ||
| - OpenSCENARIOSupport.md | ||
| - SimpleSensorSimulator.md | ||
| - SimulationResultFormat.md | ||
| - SystemArchitecture.md | ||
| - TIERIVScenarioFormatVersion2.md | ||
| - TrafficSimulator.md | ||
| - ZeroMQ.md | ||
| - VehicleDynamics.md | ||
| - SimulationResultFormat.md | ||
| - Lane Pose Calculation: lane_pose_calculation | ||
| # cspell: ignore TIERIV | ||
| - TIERIVScenarioFormatVersion2.md | ||
| - CONTRIBUTING.md | ||
| - Communication.md | ||
| - ConfiguringPerceptionTopics.md | ||
| - ManualOverrideWithFollowTrajectoryAction.md | ||
| - ZeroMQ.md |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| # Configuring Localization Topics | ||
|
|
||
| This section describes properties for configuring localization topics that | ||
| `scenario_simulator_v2` publishes to Autoware. | ||
|
|
||
| ## Parameter file | ||
|
|
||
| Localization topics are configurable from the ROS 2 parameter file given to the | ||
| launch argument `parameter_file_path` of scenario_test_runner. The default | ||
| value of `parameter_file_path` is the path to [a sample parameter | ||
| file](https://github.com/tier4/scenario_simulator_v2/blob/f15bacd819abd2044c2d6c076530a2c4070ded3d/test_runner/scenario_test_runner/config/parameters.yaml). | ||
|
|
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| All parameters that can be specified and their default values are shown in the | ||
| sample parameter file. In practice, it is not necessary to specify all | ||
| parameters except for some that are mandatory. In that case, the simulator will | ||
| behave as if similar default values had been specified. | ||
|
|
||
| Most parameters should have their uses understood just by looking at the sample | ||
| parameter file or by reading the comments in the file. Below we discuss some | ||
| parameters that require additional detailed explanation. | ||
|
|
||
| <!-- cspell: ignore YYYYMMDD --> | ||
|
|
||
| | Name | Value | Default | Description | | ||
| |------------------------|-----------------------------------------|----------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------| | ||
| | `<topic-name>.version` | An `int` type value in YYYYMMDD format | None (**mandatory**) | Suffix of `scenario_test_runner` launch argument `architecture_type`, used to maintain backward compatibility of the simulator when changing the Autoware interface. | |
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