10.1.0

Description

• enable respawn_ego mock test.
• fix launch option.

Abstract

Missing necessary parameter simulate_localization for mock_test.launch.py. As a result, mock test executed without localization simulation.

Background

When I tryied adding and improving respawn_ego test, I met wierd behavior (please see following movie). I found scenario_simulator_v2 didn't simulate localization even the autoware didn't launch any localization module.

Related PR: #1484

movie-2024-12-23_08.39.48.mp4

Details

This PR has two contents.

1. Enabled respawn_ego mock test so that we can find regression of respawn functionality. Additionally, I improved test scenario. The ego spawns at lane id 34621 and moves to 34606 during first 10 sec. After that, the ego will respawns at lane id 34576 and moves to 34564. If the ego can reach goal lane by within 60 sec, the scenario will be success. (please see following movie.)
2. Added launch option to simulate localization to mock_test.launch.py.

movie-2024-12-23_08.16.06.mp4

References

N/A

Destructive Changes

N/A

Known Limitations

N/A

Related Issues