From 355537e7d80d22bad70f519690af0a77198e6d2e Mon Sep 17 00:00:00 2001
From: Takamasa Horibe <horibe.takamasa@gmail.com>
Date: Fri, 20 Jan 2023 18:19:40 +0900
Subject: [PATCH] feat(autoware_lauch): modify launch for planning_validator
 (#180)

* modify launch for planning_validator

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* fix

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
---
 .../planning_validator.param.yaml             | 28 +++++++++++++++++++
 .../tier4_planning_component.launch.xml       |  3 ++
 2 files changed, 31 insertions(+)
 create mode 100644 autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml

diff --git a/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml
new file mode 100644
index 0000000000..658a968906
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml
@@ -0,0 +1,28 @@
+/**:
+  ros__parameters:
+    # Operation option when invalid trajectory is detected
+    #  0: publish the trajectory even if it is invalid
+    #  1: stop publishing the trajectory
+    #  2: publish the last validated trajectory
+    invalid_trajectory_handling_type: 0
+
+    publish_diag: true  # if true, diagnostic msg is published
+
+    # If the number of consecutive invalid trajectory exceeds this threshold, the Diag will be set to ERROR.
+    # (For example, threshold = 1 means, even if the trajectory is invalid, Diag will not be ERROR if
+    #  the next trajectory is valid.)
+    diag_error_count_threshold: 0
+
+    display_on_terminal: true # show error msg on terminal
+
+    thresholds:
+      interval: 100.0
+      relative_angle: 2.0  # (= 115 degree)
+      curvature: 1.0
+      lateral_acc: 9.8
+      longitudinal_max_acc: 9.8
+      longitudinal_min_acc: -9.8
+      steering: 1.414
+      steering_rate: 10.0
+      velocity_deviation: 100.0
+      distance_deviation: 100.0
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index b0ee0489ba..fb8b94083f 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -119,5 +119,8 @@
     <!-- motion velocity smoother -->
     <arg name="motion_velocity_smoother_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
     <arg name="smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
+
+    <!-- planning validator -->
+    <arg name="planning_validator_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml"/>
   </include>
 </launch>