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refactor(tier4_planning_launch): use xml style launch
Signed-off-by: satoshi-ota <[email protected]>
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182 changes: 155 additions & 27 deletions
182
...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,31 +1,159 @@ | ||
| <launch> | ||
| <arg name="input_route_topic_name" default="/planning/mission_planning/route"/> | ||
| <arg name="map_topic_name" default="/map/vector_map"/> | ||
| <arg name="vehicle_param_file"/> | ||
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| <node pkg="behavior_path_planner" exec="behavior_path_planner" name="behavior_path_planner" output="screen"> | ||
| <remap from="~/input/route" to="$(var input_route_topic_name)"/> | ||
| <remap from="~/input/vector_map" to="$(var map_topic_name)"/> | ||
| <remap from="~/input/perception" to="/perception/object_recognition/objects"/> | ||
| <remap from="~/input/occupancy_grid_map" to="/perception/occupancy_grid_map/map"/> | ||
| <remap from="~/input/traffic_signals" to="/perception/traffic_light_recognition/traffic_signals"/> | ||
| <remap from="~/input/odometry" to="/localization/kinematic_state"/> | ||
| <remap from="~/input/accel" to="/localization/acceleration"/> | ||
| <remap from="~/output/path" to="path_with_lane_id"/> | ||
| <remap from="~/output/turn_indicators_cmd" to="/planning/turn_signal_cmd"/> | ||
| <remap from="~/output/hazard_lights_cmd" to="/planning/hazard_signal_cmd"/> | ||
| <remap from="~/output/modified_goal" to="/planning/scenario_planning/modified_goal"/> | ||
| <param from="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/common/common.param.yaml"/> | ||
| <param from="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml"/> | ||
| <param from="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml"/> | ||
| <param from="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml"/> | ||
| <param from="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml"/> | ||
| <param from="$(var vehicle_param_file)"/> | ||
| </node> | ||
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| <group> | ||
| <include file="$(find-pkg-share behavior_velocity_planner)/launch/behavior_velocity_planner.launch.xml"> | ||
| <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/> | ||
| </include> | ||
| <arg name="input_traffic_light_topic_name" default="/perception/traffic_light_recognition/traffic_signals"/> | ||
| <arg name="input_virtual_traffic_light_topic_name" default="/awapi/tmp/virtual_traffic_light_states"/> | ||
| <arg name="input_vector_map_topic_name" default="/map/vector_map"/> | ||
| <arg name="input_pointcloud_map_topic_name" default="/map/pointcloud_map"/> | ||
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| <arg name="forward_path_length" default="1000.0"/> | ||
| <arg name="backward_path_length" default="5.0"/> | ||
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| <arg name="max_accel" default="-3.0"/> | ||
| <arg name="max_jerk" default="-5.0"/> | ||
| <arg name="delay_response_time" default="0.50"/> | ||
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| <node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args=""> | ||
| <composable_node pkg="behavior_path_planner" plugin="behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="~/input/route" to="$(var input_route_topic_name)"/> | ||
| <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/> | ||
| <remap from="~/input/perception" to="/perception/object_recognition/objects"/> | ||
| <remap from="~/input/occupancy_grid_map" to="/perception/occupancy_grid_map/map"/> | ||
| <remap from="~/input/costmap" to="/perception/scenario_planning/parking/costmap_generator/occupancy_grid"/> | ||
| <remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/> | ||
| <remap from="~/input/odometry" to="/localization/kinematic_state"/> | ||
| <remap from="~/input/accel" to="/localization/acceleration"/> | ||
| <remap from="~/input/scenario" to="/planning/scenario_planning/scenario"/> | ||
| <remap from="~/output/path" to="path_with_lane_id"/> | ||
| <remap from="~/output/turn_indicators_cmd" to="/planning/turn_signal_cmd"/> | ||
| <remap from="~/output/hazard_lights_cmd" to="/planning/hazard_signal_cmd"/> | ||
| <remap from="~/output/modified_goal" to="/planning/scenario_planning/modified_goal"/> | ||
| <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/> | ||
| <!-- params --> | ||
| <param from="$(var common_param_path)"/> | ||
| <param from="$(var vehicle_param_file)"/> | ||
| <param from="$(var nearest_search_param_path)"/> | ||
| <param from="$(var behavior_path_planner_side_shift_module_param_path)"/> | ||
| <param from="$(var behavior_path_planner_avoidance_module_param_path)"/> | ||
| <param from="$(var behavior_path_planner_avoidance_by_lc_module_param_path)"/> | ||
| <param from="$(var behavior_path_planner_dynamic_avoidance_module_param_path)"/> | ||
| <param from="$(var behavior_path_planner_lane_change_module_param_path)"/> | ||
| <param from="$(var behavior_path_planner_goal_planner_module_param_path)"/> | ||
| <param from="$(var behavior_path_planner_start_planner_module_param_path)"/> | ||
| <param from="$(var behavior_path_planner_drivable_area_expansion_param_path)"/> | ||
| <param from="$(var behavior_path_planner_scene_module_manager_param_path)"/> | ||
| <param from="$(var behavior_path_planner_common_param_path)"/> | ||
| <param name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/> | ||
| <!-- composable node config --> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
|
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| <composable_node pkg="behavior_velocity_planner" plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/> | ||
| <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/> | ||
| <remap from="~/input/vehicle_odometry" to="/localization/kinematic_state"/> | ||
| <remap from="~/input/accel" to="/localization/acceleration"/> | ||
| <remap from="~/input/dynamic_objects" to="/perception/object_recognition/objects"/> | ||
| <remap from="~/input/no_ground_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/> | ||
| <remap from="~/input/compare_map_filtered_pointcloud" to="compare_map_filtered/pointcloud"/> | ||
| <remap from="~/input/vector_map_inside_area_filtered_pointcloud" to="vector_map_inside_area_filtered/pointcloud"/> | ||
| <remap from="~/input/external_velocity_limit_mps" to="/planning/scenario_planning/max_velocity_default"/> | ||
| <remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/> | ||
| <remap from="~/input/virtual_traffic_light_states" to="$(var input_virtual_traffic_light_topic_name)"/> | ||
| <remap from="~/input/occupancy_grid" to="/perception/occupancy_grid_map/map"/> | ||
| <remap from="~/output/path" to="path"/> | ||
| <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/> | ||
| <remap from="~/output/infrastructure_commands" to="/planning/scenario_planning/status/infrastructure_commands"/> | ||
| <remap from="~/output/traffic_signal" to="debug/traffic_signal"/> | ||
| <!-- params --> | ||
| <param from="$(var common_param_path)"/> | ||
| <param from="$(var vehicle_param_file)"/> | ||
| <param from="$(var nearest_search_param_path)"/> | ||
| <param from="$(var motion_velocity_smoother_param_path)"/> | ||
| <param from="$(var behavior_velocity_smoother_type_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_common_param_path)"/> | ||
| <!-- <param from="$(var template_param_path)"/> --> | ||
| <param from="$(var behavior_velocity_planner_blind_spot_module_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_crosswalk_module_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_walkway_module_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_detection_area_module_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_intersection_module_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_stop_line_module_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_traffic_light_module_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_virtual_traffic_light_module_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_occlusion_spot_module_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_no_stopping_area_module_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_run_out_module_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_speed_bump_module_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_out_of_lane_module_param_path)"/> | ||
| <param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/> | ||
| <param name="forward_path_length" value="$(var forward_path_length)"/> | ||
| <param name="backward_path_length" value="$(var backward_path_length)"/> | ||
| <param name="max_jerk" value="$(var max_jerk)"/> | ||
| <param name="max_accel" value="$(var max_accel)"/> | ||
| <param name="delay_response_time" value="$(var delay_response_time)"/> | ||
| <!-- composable node config --> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
|
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| <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/> | ||
| </node_container> | ||
|
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| <group if="$(var launch_compare_map_pipeline)"> | ||
| <group if="$(var use_pointcloud_container)"> | ||
| <!-- use pointcloud container --> | ||
| <load_composable_node target="$(var pointcloud_container_name)"> | ||
| <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="map" to="$(var input_pointcloud_map_topic_name)"/> | ||
| <remap from="kinematic_state" to="/localization/kinematic_state"/> | ||
| <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/> | ||
| <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/> | ||
| <remap from="output" to="compare_map_filtered/pointcloud"/> | ||
| <!-- params --> | ||
| <param from="$(var compare_map_filter_param_path)"/> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
|
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| <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/> | ||
| <remap from="input" to="compare_map_filtered/pointcloud"/> | ||
| <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/> | ||
| <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
|
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| <group unless="$(var use_pointcloud_container)"> | ||
| <!-- launch new container --> | ||
| <node_container pkg="rclcpp_components" exec="$(var container_type)" name="compare_map_container" namespace="" args=""> | ||
| <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="map" to="$(var input_pointcloud_map_topic_name)"/> | ||
| <remap from="kinematic_state" to="/localization/kinematic_state"/> | ||
| <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/> | ||
| <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/> | ||
| <remap from="output" to="compare_map_filtered/pointcloud"/> | ||
| <!-- params --> | ||
| <param from="$(var compare_map_filter_param_path)"/> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
|
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| <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/> | ||
| <remap from="input" to="compare_map_filtered/pointcloud"/> | ||
| <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/> | ||
| <!-- params --> | ||
| <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/> | ||
| <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> | ||
| </group> | ||
| </launch> |
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