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?