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Revert "[TMP] run with gdb"
This reverts commit e70b5cd. Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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‎launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

+47-45
Original file line numberDiff line numberDiff line change
@@ -218,54 +218,56 @@
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<extra_arg name="use_intra_process_comms" value="false"/>
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</composable_node>
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<composable_node pkg="behavior_velocity_planner" plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
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<!-- topic remap -->
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<remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
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<remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
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<remap from="~/input/vehicle_odometry" to="/localization/kinematic_state"/>
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<remap from="~/input/accel" to="/localization/acceleration"/>
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<remap from="~/input/dynamic_objects" to="/perception/object_recognition/objects"/>
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<remap from="~/input/no_ground_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
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<remap from="~/input/compare_map_filtered_pointcloud" to="compare_map_filtered/pointcloud"/>
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<remap from="~/input/vector_map_inside_area_filtered_pointcloud" to="vector_map_inside_area_filtered/pointcloud"/>
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<remap from="~/input/external_velocity_limit_mps" to="/planning/scenario_planning/max_velocity_default"/>
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<remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
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<remap from="~/input/virtual_traffic_light_states" to="$(var input_virtual_traffic_light_topic_name)"/>
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<remap from="~/input/occupancy_grid" to="/perception/occupancy_grid_map/map"/>
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<remap from="~/output/path" to="path"/>
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<remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
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<remap from="~/output/infrastructure_commands" to="/planning/scenario_planning/status/infrastructure_commands"/>
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<remap from="~/output/traffic_signal" to="debug/traffic_signal"/>
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<!-- params -->
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<param from="$(var common_param_path)"/>
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<param from="$(var vehicle_param_file)"/>
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<param from="$(var nearest_search_param_path)"/>
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<param from="$(var motion_velocity_smoother_param_path)"/>
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<param from="$(var behavior_velocity_smoother_type_param_path)"/>
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<param from="$(var behavior_velocity_planner_common_param_path)"/>
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<param name="launch_modules" value="$(var behavior_velocity_planner_launch_modules)"/>
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<param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
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<!-- <param from="$(var template_param_path)"/> -->
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<param from="$(var behavior_velocity_planner_blind_spot_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_crosswalk_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_walkway_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_detection_area_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_intersection_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_stop_line_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_traffic_light_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_virtual_traffic_light_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_occlusion_spot_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_no_stopping_area_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_run_out_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_speed_bump_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_out_of_lane_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_dynamic_obstacle_stop_module_param_path)"/>
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<!-- composable node config -->
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<extra_arg name="use_intra_process_comms" value="false"/>
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</composable_node>
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<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
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</node_container>
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<node pkg="behavior_velocity_planner" exec="behavior_velocity_planner_node" name="behavior_velocity_planner" namespace="" launch-prefix="konsole -e gdb -ex run --args">
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<!-- topic remap -->
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<remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
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<remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
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<remap from="~/input/vehicle_odometry" to="/localization/kinematic_state"/>
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<remap from="~/input/accel" to="/localization/acceleration"/>
230-
<remap from="~/input/dynamic_objects" to="/perception/object_recognition/objects"/>
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<remap from="~/input/no_ground_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
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<remap from="~/input/compare_map_filtered_pointcloud" to="compare_map_filtered/pointcloud"/>
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<remap from="~/input/vector_map_inside_area_filtered_pointcloud" to="vector_map_inside_area_filtered/pointcloud"/>
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<remap from="~/input/external_velocity_limit_mps" to="/planning/scenario_planning/max_velocity_default"/>
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<remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
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<remap from="~/input/virtual_traffic_light_states" to="$(var input_virtual_traffic_light_topic_name)"/>
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<remap from="~/input/occupancy_grid" to="/perception/occupancy_grid_map/map"/>
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<remap from="~/output/path" to="path"/>
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<remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
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<remap from="~/output/infrastructure_commands" to="/planning/scenario_planning/status/infrastructure_commands"/>
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<remap from="~/output/traffic_signal" to="debug/traffic_signal"/>
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<!-- params -->
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<param from="$(var common_param_path)"/>
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<param from="$(var vehicle_param_file)"/>
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<param from="$(var nearest_search_param_path)"/>
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<param from="$(var motion_velocity_smoother_param_path)"/>
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<param from="$(var behavior_velocity_smoother_type_param_path)"/>
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<param from="$(var behavior_velocity_planner_common_param_path)"/>
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<param name="launch_modules" value="$(var behavior_velocity_planner_launch_modules)"/>
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<param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
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<!-- <param from="$(var template_param_path)"/> -->
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<param from="$(var behavior_velocity_planner_blind_spot_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_crosswalk_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_walkway_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_detection_area_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_intersection_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_stop_line_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_traffic_light_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_virtual_traffic_light_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_occlusion_spot_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_no_stopping_area_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_run_out_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_speed_bump_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_out_of_lane_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/>
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<param from="$(var behavior_velocity_planner_dynamic_obstacle_stop_module_param_path)"/>
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</node>
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<group if="$(var launch_compare_map_pipeline)">
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<!-- use pointcloud container -->
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<load_composable_node target="$(var pointcloud_container_name)">

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