feat(awsim_sensor_kit_launch): awsim load concatenate node parameters

[vividf]

Description

PR autowarefoundation/autoware.universe#8300 introduces a new concatenate algorithm and also removes the default parameter, thus the launcher would need to load the parameter from the parameter file.

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[SakodaShintaro]

Thank you. I will confirm e2e_simulator.

[SakodaShintaro]

e2e_simulator works correctly.

I have a concern about changing the timeout_sec parameter from 0.01 to 0.2. While this change could affect the behavior of autoware_ekf_localizer, I haven't observed any issues on my machine. I would like to spend more time testing this change.

[vividf]

@SakodaShintaro

I see, I understand your concern.
I think you can test with the timeout sec: 0.05 or even lower in the simulation environment.

[SakodaShintaro]

Thank you for the correction.
LGTM

[SakodaShintaro]

@vividf
I think a corresponding pull request is needed in https://github.com/autowarefoundation/autoware_individual_params.
For now, I will temporarily stop this pull request.
(Please tell me if I'm mistaken)

[vividf]

@SakodaShintaro
You are right :)
The parameters are moved in this PR autowarefoundation/autoware_individual_params#54.
Could you help test this PR with the individual PR together on the awsim :)
Thanks for your support!

Update!!!
This is not needed so I reverted the changes

[vividf]

@SakodaShintaro
Sorry that the changes are not necessary, so I reverted the changes.

[SakodaShintaro]

@vividf
I merged the two PRs

• feat(autoware_pointcloud_preprocessor): redesign concatenate and time sync node autowarefoundation/autoware.universe#8300
• feat(awsim_sensor_kit_launch): awsim load concatenate node parameters #25

into autoware:main on my machine and ran e2e_simulator with AWSIM, which has 3 lidars (top, left, and right).
However, Autoware could not engage due to LiDAR flickering.

simplescreenrecorder-2024-12-09_13.53.49.mp4

The multi LiDAR AWSIM is available to TIER IV employees only. link

Could you please confirm this?

[vividf]

As discussed in the internal link, the issue occurred due to unstable timestamps from the sensors.

For AWSIM, the timestamps of the three LiDARs should be stable (as they are in AWSIM Lab), so this should ideally be fixed within AWSIM. However, since the timestamps are currently unstable, I will temporarily set the noise window to a larger value.

Once this issue is resolved, you can create another PR to revert it to a lower value.

[vividf]

@SakodaShintaro
Note that the new concatenate algorithm PR is merged, so this PR should be merged asap :)
Thanks a lot for your help!

[SakodaShintaro]

@vividf
Thank you very much!

I have tested this PR in single LiDAR AWSIM, and it works well.

In 3 LiDARs AWSIM, there was still flickering at time scale = 1.0, but it worked well when the time scale was lowered. I'll deal with this for now.