feat: apply agnocast for planning&control #1659
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Signed-off-by: koichiimai <[email protected]>
Signed-off-by: koichiimai <[email protected]>
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….3-from-beta/v0.48 chore: sync upstream (triggered by @TomohitoAndo) - from pilot-auto PR #2622
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Description
Building on the previous PR, this change applies Agnocast to the nodes within the planning and control components.
This requires propagating the
use_agnocastandagnocast_heaphook_pathvalues down to the respective downstream launch files.For a detailed explanation of the parameters and the overall approach to integrating Agnocast into Autoware, please refer to the description of the initial PR.
How was this PR tested?
Verified the application by successfully running lsim (logging simulator) and psim (planning simulator) after applying the changes to the /perception/obstacle_segmentation/pointcloud topic.
Notes for reviewers
The documentation regarding the use of Agnocast in Autoware is available at the link below.
https://github.com/autowarefoundation/autoware_universe/blob/main/common/autoware_agnocast_wrapper/README.md
Furthermore, the following subsequent PRs will be updating other launch files not covered in this PR to also propagate use_agnocast and agnocast_heaphook_path.
Effects on system behavior
None.