How to reset autoware without relaunching everything

[ahmedius2]

Hello! Launching the entire Autoware system takes a significant amount of time due to the high number of launch files and nodes. Is there a way to reset Autoware back to its initial state at runtime without restarting the entire system? I can reset the AWSIM easily and make the car return to its initial position without restarting the AWSIM process.

[maxime-clem]

I only know a way to "restarting" single node or node container). Restarting all nodes would require restarting the entire system.

To easily restart a node you can add a launch prefix to the target node or node_container.

XML launch file (EXAMPLE)

    launch-prefix="konsole -e gdb -ex run --args"

Python launch file (EXAMPLE)

        prefix="konsole -e gdb -ex run --args"

(I recommend konsole but you can also try gnome-terminal -- gdb -ex run --args).

• launch Autoware as usual, the node or node container will start in a separate terminal and the individual launch command will be printed.
• interrupt the node or node container with CTRL+C.
• (OPTIONAL) update the code, rebuild your node, or interact with gdb as necessary.
• restart the node or node container with the gdb command shown at launch, or you can re-run the program with gdb (command r).