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feat(behavior_path_planner): add enable_all_modules_auto_mode argument to launch files for behavior path planner modules (autowarefoundation#6093)
* Add enable_all_modules_auto_mode argument to launch files Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * set default value for enable_all_modules_auto_mode Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix enable_rtc configuration in scene_module_manager_interface.hpp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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-3
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5 files changed

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launch/tier4_planning_launch/launch/planning.launch.xml

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@@ -7,6 +7,8 @@
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<arg name="freespace_planner_param_path"/>
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<!-- planning validator -->
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<arg name="planning_validator_param_path"/>
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<!-- Auto mode setting-->
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<arg name="enable_all_modules_auto_mode"/>
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<group>
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<push-ros-namespace namespace="planning"/>
@@ -21,7 +23,9 @@
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<!-- scenario planning module -->
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<group>
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<push-ros-namespace namespace="scenario_planning"/>
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<include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/scenario_planning.launch.xml"/>
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<include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/scenario_planning.launch.xml">
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<arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
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</include>
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</group>
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<!-- planning validator -->

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

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@@ -1,4 +1,6 @@
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<launch>
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<arg name="enable_all_modules_auto_mode"/>
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<!-- lane_driving scenario -->
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<group>
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<push-ros-namespace namespace="lane_driving"/>
@@ -8,6 +10,7 @@
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<group>
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<include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml">
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<arg name="container_type" value="component_container_mt"/>
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<arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
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<!-- This condition should be true if run_out module is enabled and its detection method is Points -->
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<arg name="launch_compare_map_pipeline" value="false"/>
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</include>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

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@@ -4,6 +4,7 @@
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<arg name="input_virtual_traffic_light_topic_name" default="/awapi/tmp/virtual_traffic_light_states"/>
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<arg name="input_vector_map_topic_name" default="/map/vector_map"/>
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<arg name="input_pointcloud_map_topic_name" default="/map/pointcloud_map"/>
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<arg name="enable_all_modules_auto_mode"/>
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<arg name="launch_avoidance_module" default="true"/>
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<arg name="launch_avoidance_by_lane_change_module" default="true"/>
@@ -200,6 +201,7 @@
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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 name="launch_modules" value="$(var behavior_path_planner_launch_modules)"/>
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<param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
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<param from="$(var behavior_path_planner_side_shift_module_param_path)"/>
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<param from="$(var behavior_path_planner_avoidance_module_param_path)"/>
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<param from="$(var behavior_path_planner_avoidance_by_lc_module_param_path)"/>

launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml

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@@ -1,4 +1,5 @@
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<launch>
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<arg name="enable_all_modules_auto_mode"/>
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<!-- scenario selector -->
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<group>
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<include file="$(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml">
@@ -50,7 +51,9 @@
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<group>
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<!-- lane driving -->
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<group>
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<include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving.launch.xml"/>
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<include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving.launch.xml">
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<arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
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</include>
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</group>
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<!-- parking -->
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<group>

planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp

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@@ -261,7 +261,14 @@ class SceneModuleManagerInterface
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// init manager configuration
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{
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std::string ns = name_ + ".";
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config_.enable_rtc = getOrDeclareParameter<bool>(*node, ns + "enable_rtc");
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try {
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config_.enable_rtc = getOrDeclareParameter<bool>(*node, "enable_all_modules_auto_mode")
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? false
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: getOrDeclareParameter<bool>(*node, ns + "enable_rtc");
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} catch (const std::exception & e) {
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config_.enable_rtc = getOrDeclareParameter<bool>(*node, ns + "enable_rtc");
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}
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config_.enable_simultaneous_execution_as_approved_module =
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getOrDeclareParameter<bool>(*node, ns + "enable_simultaneous_execution_as_approved_module");
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config_.enable_simultaneous_execution_as_candidate_module = getOrDeclareParameter<bool>(

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