From c9495591d39f25da9980bb79e3dc7fcdb2dca920 Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Tue, 4 Mar 2025 12:14:19 +0900
Subject: [PATCH] feat(behavior_planning): add behavior_path_planner_type to
 launch path_generator (#10217)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 .../behavior_planning.launch.xml              | 101 +++++++++++-------
 1 file changed, 60 insertions(+), 41 deletions(-)

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index 3579884064d5d..2a37b9557aaf6 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -7,6 +7,7 @@
   <arg name="enable_all_modules_auto_mode"/>
   <arg name="is_simulation"/>
 
+  <arg name="behavior_path_planner_type" default="behavior_path_planner" description="'behavior_path_planner' or 'path_generator'"/>
   <arg name="launch_static_obstacle_avoidance" default="true"/>
   <arg name="launch_avoidance_by_lane_change_module" default="true"/>
   <arg name="launch_dynamic_obstacle_avoidance" default="true"/>
@@ -170,46 +171,8 @@
   <let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>
 
   <node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args="" output="both">
-    <composable_node pkg="autoware_behavior_path_planner" plugin="autoware::behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">
-      <!-- topic remap -->
-      <remap from="~/input/route" to="$(var input_route_topic_name)"/>
-      <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
-      <remap from="~/input/perception" to="/perception/object_recognition/objects"/>
-      <remap from="~/input/occupancy_grid_map" to="/perception/occupancy_grid_map/map"/>
-      <remap from="~/input/costmap" to="/planning/scenario_planning/parking/costmap_generator/occupancy_grid"/>
-      <remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
-      <remap from="~/input/odometry" to="/localization/kinematic_state"/>
-      <remap from="~/input/accel" to="/localization/acceleration"/>
-      <remap from="~/input/scenario" to="/planning/scenario_planning/scenario"/>
-      <remap from="~/output/path" to="path_with_lane_id"/>
-      <remap from="~/output/turn_indicators_cmd" to="/planning/turn_indicators_cmd"/>
-      <remap from="~/output/hazard_lights_cmd" to="/planning/hazard_lights_cmd"/>
-      <remap from="~/output/modified_goal" to="/planning/scenario_planning/modified_goal"/>
-      <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
-      <!-- params -->
-      <param from="$(var common_param_path)"/>
-      <param from="$(var vehicle_param_file)"/>
-      <param from="$(var nearest_search_param_path)"/>
-      <param name="launch_modules" value="$(var behavior_path_planner_launch_modules)"/>
-      <param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
-      <param name="is_simulation" value="$(var is_simulation)"/>
-      <param from="$(var behavior_path_planner_side_shift_module_param_path)"/>
-      <param from="$(var behavior_path_planner_static_obstacle_avoidance_module_param_path)"/>
-      <param from="$(var behavior_path_planner_avoidance_by_lc_module_param_path)"/>
-      <param from="$(var behavior_path_planner_dynamic_obstacle_avoidance_module_param_path)"/>
-      <param from="$(var behavior_path_planner_lane_change_module_param_path)"/>
-      <param from="$(var behavior_path_planner_goal_planner_module_param_path)"/>
-      <param from="$(var behavior_path_planner_start_planner_module_param_path)"/>
-      <param from="$(var behavior_path_planner_sampling_planner_module_param_path)"/>
-      <param from="$(var behavior_path_planner_drivable_area_expansion_param_path)"/>
-      <param from="$(var behavior_path_planner_scene_module_manager_param_path)"/>
-      <param from="$(var behavior_path_planner_common_param_path)"/>
-      <!-- composable node config -->
-      <extra_arg name="use_intra_process_comms" value="false"/>
-    </composable_node>
-
+    <composable_node pkg="autoware_glog_component" plugin="autoware::glog_component::GlogComponent" name="glog_component" namespace=""/>
     <composable_node pkg="autoware_behavior_velocity_planner" plugin="autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
-      <!-- topic remap -->
       <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
       <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
       <remap from="~/input/vehicle_odometry" to="/localization/kinematic_state"/>
@@ -254,10 +217,66 @@
       <!-- composable node config -->
       <extra_arg name="use_intra_process_comms" value="false"/>
     </composable_node>
-
-    <composable_node pkg="autoware_glog_component" plugin="autoware::glog_component::GlogComponent" name="glog_component" namespace=""/>
   </node_container>
 
+  <group if="$(eval &quot;'$(var behavior_path_planner_type)' == 'behavior_path_planner'&quot;)">
+    <load_composable_node target="/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container">
+      <composable_node pkg="autoware_behavior_path_planner" plugin="autoware::behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">
+        <remap from="~/input/route" to="$(var input_route_topic_name)"/>
+        <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
+        <remap from="~/input/perception" to="/perception/object_recognition/objects"/>
+        <remap from="~/input/occupancy_grid_map" to="/perception/occupancy_grid_map/map"/>
+        <remap from="~/input/costmap" to="/planning/scenario_planning/parking/costmap_generator/occupancy_grid"/>
+        <remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
+        <remap from="~/input/odometry" to="/localization/kinematic_state"/>
+        <remap from="~/input/accel" to="/localization/acceleration"/>
+        <remap from="~/input/scenario" to="/planning/scenario_planning/scenario"/>
+        <remap from="~/output/path" to="path_with_lane_id"/>
+        <remap from="~/output/turn_indicators_cmd" to="/planning/turn_indicators_cmd"/>
+        <remap from="~/output/hazard_lights_cmd" to="/planning/hazard_lights_cmd"/>
+        <remap from="~/output/modified_goal" to="/planning/scenario_planning/modified_goal"/>
+        <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
+        <!-- params -->
+        <param from="$(var common_param_path)"/>
+        <param from="$(var vehicle_param_file)"/>
+        <param from="$(var nearest_search_param_path)"/>
+        <param name="launch_modules" value="$(var behavior_path_planner_launch_modules)"/>
+        <param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+        <param name="is_simulation" value="$(var is_simulation)"/>
+        <param from="$(var behavior_path_planner_side_shift_module_param_path)"/>
+        <param from="$(var behavior_path_planner_static_obstacle_avoidance_module_param_path)"/>
+        <param from="$(var behavior_path_planner_avoidance_by_lc_module_param_path)"/>
+        <param from="$(var behavior_path_planner_dynamic_obstacle_avoidance_module_param_path)"/>
+        <param from="$(var behavior_path_planner_lane_change_module_param_path)"/>
+        <param from="$(var behavior_path_planner_goal_planner_module_param_path)"/>
+        <param from="$(var behavior_path_planner_start_planner_module_param_path)"/>
+        <param from="$(var behavior_path_planner_sampling_planner_module_param_path)"/>
+        <param from="$(var behavior_path_planner_drivable_area_expansion_param_path)"/>
+        <param from="$(var behavior_path_planner_scene_module_manager_param_path)"/>
+        <param from="$(var behavior_path_planner_common_param_path)"/>
+        <!-- composable node config -->
+        <extra_arg name="use_intra_process_comms" value="false"/>
+      </composable_node>
+    </load_composable_node>
+  </group>
+
+  <group if="$(eval &quot;'$(var behavior_path_planner_type)' == 'path_generator'&quot;)">
+    <load_composable_node target="/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container">
+      <composable_node pkg="autoware_path_generator" plugin="autoware::path_generator::PathGenerator" name="path_generator" namespace="">
+        <remap from="~/input/route" to="$(var input_route_topic_name)"/>
+        <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
+        <remap from="~/input/odometry" to="/localization/kinematic_state"/>
+        <remap from="~/output/path" to="path_with_lane_id"/>
+        <!-- params -->
+        <param from="$(var vehicle_param_file)"/>
+        <param from="$(var nearest_search_param_path)"/>
+        <param from="$(var path_generator_param_path)"/>
+        <!-- composable node config -->
+        <extra_arg name="use_intra_process_comms" value="false"/>
+      </composable_node>
+    </load_composable_node>
+  </group>
+
   <group if="$(var launch_compare_map_pipeline)">
     <!-- use pointcloud container -->
     <load_composable_node target="$(var pointcloud_container_name)">