blocks #14

I've been porting the interpolate nodelet from this repository for sensing_launch. https://github.com/tier4/velodyne_vls

However, there are other changes made to other nodelets in velodyne_pointcloud and velodyne_driver which interpolate nodelet depends on. (e.g. additional azimuth, timestamp fields added to sensor_msgs::PointCloud2 topic).
The repo has diverged from original https://github.com/ros-drivers/velodyne repo, and it is difficult to just add the nodelet to it's ros2 branch.

I'm currently doing the porting of https://github.com/tier4/velodyne_vls so that we can use it for testing it on the vehicle next week, but we probably should port this feature to the driver in Autoware.Auto repository rather than doing maintenance under Tier4 repository. Autoware.Auto driver also has better code quality as well.

In https://github.com/tier4/autoware_launcher.iv.universe/blob/master/sensing_launch/launch/aip_xx1/lidar.launch#L12
these parameters are set

        <arg name="scan_phase" default="300.0" />
        <arg name="sensor_timestamp" default="false" />

but they no longer seem available in the ros2 version of the velodyne driver so I comment them out in #14

It is not clear what impact they have in vehicle testing

https://github.com/tier4/autoware_launch/blob/42fca870919c036697d5e7400146823939fbca05/control_launch/launch/control.launch.py#L35-L49

Now, We cannot change lat_controller_param_path from outside in the form of launch arguments.

I'd like to set from launch arguments like followings.

<arg name="individual_params_config" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/"/>
<include file="$(find-pkg-share control_launch)/launch/control.launch.py">
    <arg name="lateral_controller_mode" value="pure_pursuit" />
    <arg name="lat_controller_param_path" value="$(var individual_params_config)/control_launch/pure_pursuit.param.yaml" />
</include>

find_package(velodyne_driver 0.2.0 EXACT REQUIRED)
find_package(velodyne_pointcloud 0.2.0 EXACT REQUIRED)

CMakeLists.txt of sensing_launch folder wants the above versions of velodyne drivers. However, when I checked these versions, i saw that there were versions released in 2010. Support is no longer available. Latest version: 2.1.0
I modified these versions in CMake file for successful completion of compile. Does it cause problems?

Does anyone know if in sensing_launch, the data from one velodyne were preprocessed separately in one nodelet container, and then aggregated from multiple lidars in a separate nodelet manager? The default values of the manager name imply that but I don't know if they were ever overridden from the command line.

Taking aip_s1 as an example, in https://github.com/tier4/autoware_launcher.iv.universe/blob/master/sensing_launch/launch/aip_s1/lidar.launch#L8

  <include file="$(find sensing_launch)/launch/velodyne_VLS128.launch">

and in that file
https://github.com/tier4/autoware_launcher.iv.universe/blob/master/sensing_launch/launch/velodyne_VLS128.launch#L11

<arg name="manager" default="velodyne_nodelet_manager" />

But later in
https://github.com/tier4/autoware_launcher.iv.universe/blob/master/sensing_launch/launch/aip_s1/lidar.launch#L36, this name is used for the agreggate nodelet manager

<arg name="manager" default="lidar_nodelet_manager" />

If somebody invoked lidar.launch with manager:=velodyne_nodelet_manager, then they previously were in the same process. But now since I have to create the container of composable nodes in python, I would need to add lots of extra logic to support this edge case, otherwise I can just have two separate python files and it's more straightforward

In livox_horizon.launch.xml, this parameter is not declared/used by the driver

  <param name="cmdline_str" value="$(var bd_list)"/>

not clear what impact it had before

Some required variables apparently aren't set in the repository

ros2 launch sensing_launch sensing.launch.xml sensor_model:=aip_xx1    
...
launch.substitutions.substitution_failure.SubstitutionFailure: environment variable 'LIVOX_FRONT_LEFT_ID' does not exist

In vehicle testing, these variables need proper values, during test on my laptop, I just did

export LIVOX_FRONT_LEFT_ID=1
export LIVOX_FRONT_RIGHT_ID=2
colcon build --packages-select sensing_launch && ros2 launch sensing_launch sensing.launch.xml sensor_model:=aip_xx1

When available, use the TierIV port to ros2 of the velodyne driver with sensing_launch in #14

Currently ad_service_state_monitor in system launch refers to .universe config file so it would be better to refer system launch's config file moving config file.

  <arg name="config_file" default="$(find-pkg-share ad_service_state_monitor)/config/ad_service_state_monitor.param.yaml" />
to
  <arg name="config_file" default="$(find-pkg-share ad_service_state_monitor)/config/config/ad_service_state_monitor.param.yaml" />

https://github.com/autowarefoundation/autoware.universe/tree/tier4/proposal/system/ad_service_state_monitor/config

or is there any better reason to refer to .universe config file?