refactor(tier4_planning_launch): organize arguments (autowarefoundati…

…on#2666) * refactor(tier4_planning_launch): organize arguments Signed-off-by: Takayuki Murooka <[email protected]> * update Signed-off-by: Takayuki Murooka <[email protected]> Signed-off-by: Takayuki Murooka <[email protected]>
maxime-clem · Jan 30, 2023 · f21fa9a · f21fa9a
1 parent 3946167
commit f21fa9a
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Showing 6 changed files with 37 additions and 33 deletions.
diff --git a/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml
@@ -8,7 +8,7 @@
   <arg name="vehicle_param_file"/>
   <arg name="use_pointcloud_container"/>
   <arg name="pointcloud_container_name"/>
-  <arg name="smoother_type"/>
+  <arg name="use_surround_obstacle_check"/>
 
   <!-- common -->
   <arg name="common_param_path"/>
@@ -65,6 +65,9 @@
         <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
+        <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
+        <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
       </include>
     </group>
 

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml
@@ -26,6 +26,9 @@
       <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py">
         <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
         <arg name="use_multithread" value="true"/>
+        <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
+        <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
+        <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
       </include>
     </group>
   </group>

diff --git a/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -86,11 +86,19 @@ def launch_setup(context, *args, **kwargs):
             behavior_path_planner_param,
             vehicle_param,
             {
-                "bt_tree_config_path": [
-                    FindPackageShare("behavior_path_planner"),
-                    "/config/behavior_path_planner_tree.xml",
-                ],
-                "planning_hz": 10.0,
+                "lane_change.enable_abort_lane_change": LaunchConfiguration(
+                    "use_experimental_lane_change_function"
+                ),
+                "lane_change.enable_collision_check_at_prepare_phase": LaunchConfiguration(
+                    "use_experimental_lane_change_function"
+                ),
+                "lane_change.use_predicted_path_outside_lanelet": LaunchConfiguration(
+                    "use_experimental_lane_change_function"
+                ),
+                "lane_change.use_all_predicted_path": LaunchConfiguration(
+                    "use_experimental_lane_change_function"
+                ),
+                "bt_tree_config_path": LaunchConfiguration("behavior_path_planner_tree_param_path"),
             },
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
@@ -280,15 +288,10 @@ def add_launch_arg(name: str, default_value=None, description=None):
             DeclareLaunchArgument(name, default_value=default_value, description=description)
         )
 
-    add_launch_arg(
-        "vehicle_param_file",
-        [
-            FindPackageShare("vehicle_info_util"),
-            "/config/vehicle_info.param.yaml",
-        ],
-        "path to the parameter file of vehicle information",
-    )
+    # vehicle parameter
+    add_launch_arg("vehicle_param_file")
 
+    # interface parameter
     add_launch_arg(
         "input_route_topic_name", "/planning/mission_planning/route", "input topic of route"
     )

diff --git a/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -24,7 +24,6 @@
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
-from launch_ros.substitutions import FindPackageShare
 import yaml
 
 
@@ -61,8 +60,6 @@ def launch_setup(context, *args, **kwargs):
             nearest_search_param,
             obstacle_avoidance_planner_param,
             vehicle_info_param,
-            {"is_showing_debug_info": False},
-            {"is_stopping_if_outside_drivable_area": True},
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
@@ -220,19 +217,19 @@ def launch_setup(context, *args, **kwargs):
     obstacle_stop_planner_loader = LoadComposableNodes(
         composable_node_descriptions=[obstacle_stop_planner_component],
         target_container=container,
-        condition=LaunchConfigurationEquals("cruise_planner", "obstacle_stop_planner"),
+        condition=LaunchConfigurationEquals("cruise_planner_type", "obstacle_stop_planner"),
     )
 
     obstacle_cruise_planner_loader = LoadComposableNodes(
         composable_node_descriptions=[obstacle_cruise_planner_component],
         target_container=container,
-        condition=LaunchConfigurationEquals("cruise_planner", "obstacle_cruise_planner"),
+        condition=LaunchConfigurationEquals("cruise_planner_type", "obstacle_cruise_planner"),
     )
 
     obstacle_cruise_planner_relay_loader = LoadComposableNodes(
         composable_node_descriptions=[obstacle_cruise_planner_relay_component],
         target_container=container,
-        condition=LaunchConfigurationEquals("cruise_planner", "none"),
+        condition=LaunchConfigurationEquals("cruise_planner_type", "none"),
     )
 
     surround_obstacle_checker_loader = LoadComposableNodes(
@@ -261,27 +258,20 @@ def add_launch_arg(name: str, default_value=None, description=None):
             DeclareLaunchArgument(name, default_value=default_value, description=description)
         )
 
-    # vehicle information parameter file
-    add_launch_arg(
-        "vehicle_param_file",
-        [
-            FindPackageShare("vehicle_info_util"),
-            "/config/vehicle_info.param.yaml",
-        ],
-        "path to the parameter file of vehicle information",
-    )
+    # vehicle parameter
+    add_launch_arg("vehicle_param_file")
 
-    # obstacle_avoidance_planner
+    # interface parameter
     add_launch_arg(
         "input_path_topic",
         "/planning/scenario_planning/lane_driving/behavior_planning/path",
         "input path topic of obstacle_avoidance_planner",
     )
 
-    # surround obstacle checker
-    add_launch_arg("use_surround_obstacle_check", "true", "launch surround_obstacle_checker or not")
+    # package parameter
+    add_launch_arg("use_surround_obstacle_check")  # launch surround_obstacle_checker or not
     add_launch_arg(
-        "cruise_planner", "obstacle_stop_planner", "cruise planner type"
+        "cruise_planner_type"
     )  # select from "obstacle_stop_planner", "obstacle_cruise_planner", "none"
 
     add_launch_arg("use_intra_process", "false", "use ROS2 component container communication")

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -45,6 +45,9 @@
         <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
+        <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
+        <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
       </include>
     </group>
     <!-- parking -->

diff --git a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml
@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    planning_hz: 10.0
+
     backward_path_length: 5.0
     forward_path_length: 200.0
     backward_length_buffer_for_end_of_pull_over: 5.0