7.2.0
Description
Abstract
Added the option simulate_localization:=<boolean>
to simulate the option localization_sim_mode:=<api | pose_twist_estimator>
of simple_planning_simulator.
Background
Previously, scenario_simulator_v2 also simulated Autoware's localization module, but in order to test the localization module, an option was needed to leave this to Autoware rather than doing it on the scenario_simulator_v2 side.
Feature request thread (internal link)
Details
The default is simulate_localization:=true
, which performs the same operation as localization_sim_mode:=api
. This is compatible with the previous scenario_simulator_v2. On the other hand, when simulate_localization:=false
, it performs the same operation as localization_sim_mode:=pose_twist_estimator
.
References
None.
Destructive Changes
None.
Known Limitations
None.