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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 (pseudo occlusion)-->
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<group if="$(eval &quot;'$(var motion_stop_planner_type)' == 'obstacle_cruise_planner_with_pseudo_occlusion'&quot;)">
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<load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">

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