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launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

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</composable_node>
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</load_composable_node>
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</group>
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<!-- Second Obstacle Cruise -->
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<group if="$(eval &quot;'$(var motion_stop_planner_type)' == 'obstacle_cruise_planner_with_pseudo_occulusion'&quot;)">
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<load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
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</load_composable_node>
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</group>
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<group if="$(eval &quot;'$(var motion_stop_planner_type)' == 'none'&quot;)">
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<load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
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<composable_node pkg="topic_tools" plugin="topic_tools::RelayNode" name="obstacle_stop_relay" namespace="">

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