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refactor(tier4_planning_launch): use xml style launch (#5502)
* refactor(tier4_planning_launch): use xml style launch Signed-off-by: satoshi-ota <[email protected]> * refactor(tier4_planning_launch): remove python style launch Signed-off-by: satoshi-ota <[email protected]> * fix(tier4_planning_launch): enable console output Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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160 changes: 0 additions & 160 deletions
160
launch/tier4_planning_launch/launch/scenario_planning/parking.launch.py
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58 changes: 32 additions & 26 deletions
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launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,32 +1,38 @@ | ||
| <launch> | ||
| <arg name="vehicle_param_file"/> | ||
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| <!-- parking scenario --> | ||
| <group> | ||
| <group if="$(var launch_parking_module)"> | ||
| <push-ros-namespace namespace="parking"/> | ||
| <group> | ||
| <include file="$(find-pkg-share costmap_generator)/launch/costmap_generator.launch.xml"> | ||
| <arg name="input_objects" value="/perception/object_recognition/objects"/> | ||
| <arg name="input_points_no_ground" value="/perception/obstacle_segmentation/pointcloud"/> | ||
| <arg name="input_lanelet_map" value="/map/vector_map"/> | ||
| <arg name="input_scenario" value="/planning/scenario_planning/scenario"/> | ||
| <arg name="output_grid_map" value="costmap_generator/grid_map"/> | ||
| <arg name="output_occupancy_grid" value="costmap_generator/occupancy_grid"/> | ||
| <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/> | ||
| </include> | ||
| </group> | ||
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| <group> | ||
| <include file="$(find-pkg-share freespace_planner)/launch/freespace_planner.launch.xml"> | ||
| <arg name="input_route" value="/planning/mission_planning/route"/> | ||
| <arg name="input_occupancy_grid" value="costmap_generator/occupancy_grid"/> | ||
| <arg name="input_scenario" value="/planning/scenario_planning/scenario"/> | ||
| <arg name="input_odometry" value="/localization/kinematic_state"/> | ||
| <arg name="output_trajectory" value="/planning/scenario_planning/parking/trajectory"/> | ||
| <arg name="is_completed" value="/planning/scenario_planning/parking/is_completed"/> | ||
| <arg name="param_file" value="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/> | ||
| <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/> | ||
| </include> | ||
| </group> | ||
| <node_container pkg="rclcpp_components" exec="$(var container_type)" name="parking_container" namespace="" output="screen"> | ||
| <composable_node pkg="costmap_generator" plugin="CostmapGenerator" name="costmap_generator" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="~/input/objects" to="/perception/object_recognition/objects"/> | ||
| <remap from="~/input/points_no_ground" to="/perception/obstacle_segmentation/pointcloud"/> | ||
| <remap from="~/input/vector_map" to="/map/vector_map"/> | ||
| <remap from="~/input/scenario" to="/planning/scenario_planning/scenario"/> | ||
| <remap from="~/output/grid_map" to="costmap_generator/grid_map"/> | ||
| <remap from="~/output/occupancy_grid" to="costmap_generator/occupancy_grid"/> | ||
| <!-- params --> | ||
| <param from="$(var vehicle_param_file)"/> | ||
| <param from="$(var costmap_generator_param_path)"/> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
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| <composable_node pkg="freespace_planner" plugin="freespace_planner::FreespacePlannerNode" name="freespace_planner" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="~/input/route" to="/planning/mission_planning/route"/> | ||
| <remap from="~/input/scenario" to="/planning/scenario_planning/scenario"/> | ||
| <remap from="~/input/occupancy_grid" to="costmap_generator/occupancy_grid"/> | ||
| <remap from="~/input/odometry" to="/localization/kinematic_state"/> | ||
| <remap from="~/output/trajectory" to="/planning/scenario_planning/parking/trajectory"/> | ||
| <remap from="is_completed" to="/planning/scenario_planning/parking/is_completed"/> | ||
| <!-- params --> | ||
| <param from="$(var vehicle_param_file)"/> | ||
| <param from="$(var freespace_planner_param_path)"/> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
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| <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/> | ||
| </node_container> | ||
| </group> | ||
| </launch> |
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