From f1d4bd97515262c5bdc529c3d692bfcd7882fe61 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 22 Mar 2022 12:45:45 +0900
Subject: [PATCH 1/2] add obstacle_velocity_planner

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../motion_planning/motion_planning.launch.py | 29 ++++++++++++++++++-
 1 file changed, 28 insertions(+), 1 deletion(-)

diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
index 58b685919..0785f8e72 100644
--- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
+++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -120,6 +120,32 @@ def generate_launch_description():
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    # obstacle velocity planner
+    # TODO(murooka) use launcher param
+    obstacle_velocity_planner_param_path = os.path.join(
+        get_package_share_directory('obstacle_velocity_planner'),
+        'config',
+        'obstacle_velocity_planner.param.yaml',
+    )
+    with open(obstacle_velocity_planner_param_path, 'r') as f:
+        obstacle_velocity_planner_param = yaml.safe_load(f)['/**']['ros__parameters']
+    obstacle_velocity_planner_component = ComposableNode(
+        package='obstacle_velocity_planner',
+        plugin='ObstacleVelocityPlanner',
+        name='obstacle_velocity_planner',
+        namespace='',
+        remappings=[
+            ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
+            ('~/input/trajectory', 'surround_obstacle_checker/trajectory'),
+        ],
+        parameters=[
+            obstacle_velocity_planner_param,
+        ],
+        extra_arguments=[
+            {'use_intra_process_comms': LaunchConfiguration('use_intra_process')}
+        ],
+    )
+
     # obstacle stop planner
     obstacle_stop_planner_param_path = os.path.join(
         get_package_share_directory("planning_launch"),
@@ -181,7 +207,8 @@ def generate_launch_description():
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[
             obstacle_avoidance_planner_component,
-            obstacle_stop_planner_component,
+            obstacle_velocity_planner_component,
+            # obstacle_stop_planner_component,
         ],
     )
 

From 7e143bbea278921ffcb1f580c96ebadaac4c278b Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 22 Mar 2022 04:08:07 +0000
Subject: [PATCH 2/2] ci(pre-commit): autofix

---
 .../motion_planning/motion_planning.launch.py | 24 +++++++++----------
 1 file changed, 11 insertions(+), 13 deletions(-)

diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
index 0785f8e72..128fdcbde 100644
--- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
+++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -123,27 +123,25 @@ def generate_launch_description():
     # obstacle velocity planner
     # TODO(murooka) use launcher param
     obstacle_velocity_planner_param_path = os.path.join(
-        get_package_share_directory('obstacle_velocity_planner'),
-        'config',
-        'obstacle_velocity_planner.param.yaml',
+        get_package_share_directory("obstacle_velocity_planner"),
+        "config",
+        "obstacle_velocity_planner.param.yaml",
     )
-    with open(obstacle_velocity_planner_param_path, 'r') as f:
-        obstacle_velocity_planner_param = yaml.safe_load(f)['/**']['ros__parameters']
+    with open(obstacle_velocity_planner_param_path, "r") as f:
+        obstacle_velocity_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     obstacle_velocity_planner_component = ComposableNode(
-        package='obstacle_velocity_planner',
-        plugin='ObstacleVelocityPlanner',
-        name='obstacle_velocity_planner',
-        namespace='',
+        package="obstacle_velocity_planner",
+        plugin="ObstacleVelocityPlanner",
+        name="obstacle_velocity_planner",
+        namespace="",
         remappings=[
             ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
-            ('~/input/trajectory', 'surround_obstacle_checker/trajectory'),
+            ("~/input/trajectory", "surround_obstacle_checker/trajectory"),
         ],
         parameters=[
             obstacle_velocity_planner_param,
         ],
-        extra_arguments=[
-            {'use_intra_process_comms': LaunchConfiguration('use_intra_process')}
-        ],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
     # obstacle stop planner