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feat: move launch_deprecated_api #123

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feat: move launch_deprecated_api #123

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7 changes: 7 additions & 0 deletions tier4_prototype_api_launch/CMakeLists.txt
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cmake_minimum_required(VERSION 3.14)
project(tier4_prototype_api_launch)

find_package(autoware_cmake REQUIRED)
autoware_package()

ament_auto_package(INSTALL_TO_SHARE launch)
4 changes: 4 additions & 0 deletions tier4_prototype_api_launch/README.md
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# tier4_prototype_api_launch

This package launches the prototype TIER IV API. See [List of TIER IV API](https://tier4.github.io/autoware-documentation/tier4-main/design/autoware-interfaces/prototyping/) for details of each API.
If there is a similar feature in the [AD API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/), please migrate to it.
28 changes: 28 additions & 0 deletions tier4_prototype_api_launch/launch/tier4_prototype_api.launch.xml
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<launch>
<!-- awapi -->
<group>
<include file="$(find-pkg-share awapi_awiv_adapter)/launch/awapi_awiv_adapter.launch.xml"/>
</group>

<!-- autoware api adaptor -->
<group>
<push-ros-namespace namespace="autoware_api"/>
<include file="$(find-pkg-share autoware_iv_external_api_adaptor)/launch/external_api_adaptor.launch.py"/>
<include file="$(find-pkg-share autoware_iv_internal_api_adaptor)/launch/internal_api_adaptor.launch.py"/>
<include file="$(find-pkg-share autoware_iv_internal_api_adaptor)/launch/internal_api_relay.launch.xml"/>
</group>

<!-- autoware api utils -->
<group>
<push-ros-namespace namespace="autoware_api/utils"/>
<include file="$(find-pkg-share path_distance_calculator)/launch/path_distance_calculator.launch.xml"/>
</group>

<!-- RTC controller -->
<group>
<push-ros-namespace namespace="autoware_api/external/rtc_controller"/>
<node_container pkg="rclcpp_components" exec="component_container_mt" name="container" namespace="" ros_args="--log-level autoware_api.external.rtc_controller.container:=warn">
<composable_node pkg="autoware_iv_external_api_adaptor" plugin="external_api::RTCController" name="node"/>
</node_container>
</group>
</launch>
24 changes: 24 additions & 0 deletions tier4_prototype_api_launch/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>tier4_prototype_api_launch</name>
<version>0.0.0</version>
<description>The tier4_prototype_api_launch package</description>
<maintainer email="[email protected]">Takagi, Isamu</maintainer>
<license>Apache License 2.0</license>

<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<exec_depend>autoware_iv_external_api_adaptor</exec_depend>
<exec_depend>autoware_iv_internal_api_adaptor</exec_depend>
<exec_depend>awapi_awiv_adapter</exec_depend>
<exec_depend>path_distance_calculator</exec_depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
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