feat(tier4_control_launch): run control_validator out of main control container

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Author: soblin

launch/tier4_control_launch/launch/control.launch.py

@@ -116,23 +116,6 @@ def launch_setup(context, *args, **kwargs):
         parameters=[nearest_search_param, lane_departure_checker_param, vehicle_info_param],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
-    # control validator checker
-    control_validator_component = ComposableNode(
-        package="control_validator",
-        plugin="control_validator::ControlValidator",
-        name="control_validator",
-        remappings=[
-            ("~/input/kinematics", "/localization/kinematic_state"),
-            ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),
-            (
-                "~/input/predicted_trajectory",
-                "/control/trajectory_follower/lateral/predicted_trajectory",
-            ),
-            ("~/output/validation_status", "~/validation_status"),
-        ],
-        parameters=[control_validator_param],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
 
     # shift decider
     shift_decider_component = ComposableNode(
@@ -206,6 +189,29 @@ def launch_setup(context, *args, **kwargs):
         target_container="/control/control_container",
     )
 
+    # control validator checker
+    control_validator_component = ComposableNode(
+        package="control_validator",
+        plugin="control_validator::ControlValidator",
+        name="control_validator",
+        remappings=[
+            ("~/input/kinematics", "/localization/kinematic_state"),
+            ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),
+            (
+                "~/input/predicted_trajectory",
+                "/control/trajectory_follower/lateral/predicted_trajectory",
+            ),
+            ("~/output/validation_status", "~/validation_status"),
+        ],
+        parameters=[control_validator_param],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+
+    control_validator_loader = LoadComposableNodes(
+        composable_node_descriptions=[control_validator_component],
+        target_container="/control/control_container",
+    )
+
     # vehicle cmd gate
     vehicle_cmd_gate_component = ComposableNode(
         package="vehicle_cmd_gate",
@@ -351,7 +357,6 @@ def launch_setup(context, *args, **kwargs):
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[
             controller_component,
-            control_validator_component,
             lane_departure_component,
             shift_decider_component,
             vehicle_cmd_gate_component,
@@ -369,6 +374,7 @@ def launch_setup(context, *args, **kwargs):
             obstacle_collision_checker_loader,
             autonomous_emergency_braking_loader,
             predicted_path_checker_loader,
+            control_validator_loader,
         ]
     )