From ee6750da81da9b34c624adef7ef9b371ab17f068 Mon Sep 17 00:00:00 2001
From: kosuke55 <kosuke.tnp@gmail.com>
Date: Mon, 3 Mar 2025 20:49:50 +0900
Subject: [PATCH] feat(behavior_planning): add behavior_path_planner_type to
 launch path_generator

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 .../config/planning/preset/default_preset.yaml     |  6 ++++++
 .../path_generator/path_generator.param.yaml       | 14 ++++++++++++++
 .../components/tier4_planning_component.launch.xml |  3 +++
 3 files changed, 23 insertions(+)
 create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml

diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 26cc08ef21..af41f09d6b 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -1,4 +1,10 @@
 launch:
+  - arg:
+      name: behavior_path_planner_type
+      default: behavior_path_planner
+    # option: behavior_path_planner
+    #         path_generator
+
   # behavior path modules
   - arg:
       name: launch_static_obstacle_avoidance
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml
new file mode 100644
index 0000000000..7a4ed323d6
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml
@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    planning_hz: 10.0
+    path_length:
+      backward: 5.0
+      forward: 300.0
+    waypoint_group:
+      separation_threshold: 1.0
+      interval_margin_ratio: 10.0
+    turn_signal:
+      search_time: 3.0
+      search_distance: 30.0
+      resampling_interval: 1.0
+      angle_threshold_deg: 15.0
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 5754d17ab5..734abdd018 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -41,6 +41,9 @@
     <arg name="behavior_path_planner_start_planner_module_param_path" value="$(var behavior_path_config_path)/start_planner/start_planner.param.yaml"/>
     <arg name="behavior_path_planner_drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
 
+    <!-- path generator -->
+    <arg name="path_generator_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml"/>
+
     <!-- behavior velocity planner -->
     <arg name="behavior_velocity_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"/>
     <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml"/>