feat: launch occupancy_grid_map from own launch file

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

Author: brkay54

tools/reaction_analyzer/launch/reaction_analyzer.launch.xml

@@ -1,7 +1,15 @@
 <launch>
   <arg name="reaction_analyzer_param_path" default="$(find-pkg-share reaction_analyzer)/param/reaction_analyzer.param.yaml"/>
+  <arg name="launch_simulator_perception_modules" default="false"/> <!-- reaction analyzer publishes own perception objects -->
+
+  <!-- Arguments for occupancy_grid_map -->
+  <arg name="laserscan_based_occupancy_grid_map_param_path" default="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>
+  <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
+  <arg name="occupancy_grid_map_updater_param_path" default="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
+
+  <!-- running_mode: planning_control or perception_planning -->
   <arg name="running_mode" default="planning_control"/>
-  <!-- planning_control or perception_planning -->
+
   <!-- Essential parameters -->
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
@@ -21,7 +29,20 @@
       <arg name="map_path" value="$(var map_path)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
-      <arg name="launch_simulator_perception_modules" value="false"/>
+      <arg name="launch_simulator_perception_modules" value="$(var launch_simulator_perception_modules)"/>
+    </include>
+
+    <!-- Occupancy Grid -->
+    <push-ros-namespace namespace="occupancy_grid_map"/>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
+      <arg name="input_obstacle_pointcloud" value="true"/>
+      <arg name="input_obstacle_and_raw_pointcloud" value="false"/>
+      <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud"/>
+      <arg name="output" value="/perception/occupancy_grid_map/map"/>
+      <arg name="occupancy_grid_map_method" value="laserscan_based_occupancy_grid_map"/>
+      <arg name="occupancy_grid_map_param_path" value="$(var laserscan_based_occupancy_grid_map_param_path)"/>
+      <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
+      <arg name="occupancy_grid_map_updater_param_path" value="$(var occupancy_grid_map_updater_param_path)"/>
     </include>
   </group>