fixup! refactor(launch): add new option to select planning preset

autowarefoundation · Nov 8, 2023 · 096acd8 · 096acd8
1 parent 7a762f4
commit 096acd8
Show file tree

Hide file tree

Showing 3 changed files with 157 additions and 56 deletions.
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -1,59 +1,90 @@
 launch:
-  # - arg:
-  #     name: behavior_path_planner_launch_modules
-  #     default: "[behavior_path_planner::Avoidance,
-  #       behavior_path_planner::AvoidanceByLaneChange,
-  #       behavior_path_planner::DynamicAvoidance,
-  #       behavior_path_planner::LaneChange,
-  #       behavior_path_planner::ExternalLaneChange,
-  #       behavior_path_planner::StartPlanner,
-  #       behavior_path_planner::GoalPlanner,
-  #       behavior_path_planner::SideShift]"
-  #     # option: behavior_path_planner::Avoidance
-  #     #         behavior_path_planner::AvoidanceByLaneChange
-  #     #         behavior_path_planner::DynamicAvoidance
-  #     #         behavior_path_planner::LaneChange
-  #     #         behavior_path_planner::ExternalLaneChange
-  #     #         behavior_path_planner::StartPlanner
-  #     #         behavior_path_planner::GoalPlanner
-  #     #         behavior_path_planner::SideShift"
-
+  # behavior path modules
+  - arg:
+      name: launch_avoidance_module
+      default: "true"
+  - arg:
+      name: launch_avoidance_by_lane_change_module
+      default: "true"
+  - arg:
+      name: launch_dynamic_avoidance_module
+      default: "false"
+  - arg:
+      name: launch_lane_change_right_module
+      default: "true"
+  - arg:
+      name: launch_lane_change_left_module
+      default: "true"
+  - arg:
+      name: launch_external_request_lane_change_right_module
+      default: "false"
   - arg:
-      name: behavior_velocity_planner_launch_modules
-      default: "[behavior_velocity_planner::CrosswalkModulePlugin,
-        behavior_velocity_planner::WalkwayModulePlugin,
-        behavior_velocity_planner::TrafficLightModulePlugin,
-        behavior_velocity_planner::IntersectionModulePlugin,
-        behavior_velocity_planner::MergeFromPrivateModulePlugin,
-        behavior_velocity_planner::BlindSpotModulePlugin,
-        behavior_velocity_planner::DetectionAreaModulePlugin,
-        behavior_velocity_planner::NoStoppingAreaModulePlugin,
-        behavior_velocity_planner::StopLineModulePlugin,
-        behavior_velocity_planner::OutOfLaneModulePlugin]"
-      # option: behavior_velocity_planner::CrosswalkModulePlugin
-      #         behavior_velocity_planner::WalkwayModulePlugin
-      #         behavior_velocity_planner::TrafficLightModulePlugin
-      #         behavior_velocity_planner::IntersectionModulePlugin
-      #         behavior_velocity_planner::MergeFromPrivateModulePlugin
-      #         behavior_velocity_planner::BlindSpotModulePlugin
-      #         behavior_velocity_planner::DetectionAreaModulePlugin
-      #         behavior_velocity_planner::VirtualTrafficLightModulePlugin
-      #         behavior_velocity_planner::NoStoppingAreaModulePlugin
-      #         behavior_velocity_planner::StopLineModulePlugin
-      #         behavior_velocity_planner::OcclusionSpotModulePlugin
-      #         behavior_velocity_planner::RunOutModulePlugin
-      #         behavior_velocity_planner::SpeedBumpModulePlugin
-      #         behavior_velocity_planner::OutOfLaneModulePlugin
-      #         behavior_velocity_planner::NoDrivableLaneModulePlugin"
+      name: launch_external_request_lane_change_left_module
+      default: "false"
+  - arg:
+      name: launch_goal_planner_module
+      default: "true"
+  - arg:
+      name: launch_start_planner_module
+      default: "true"
+  - arg:
+      name: launch_side_shift_module
+      default: "true"
 
+  # behavior velocity modules
+  - arg:
+      name: launch_crosswalk_module
+      default: "true"
+  - arg:
+      name: launch_walkway_module
+      default: "true"
+  - arg:
+      name: launch_traffic_light_module
+      default: "true"
+  - arg:
+      name: launch_intersection_module
+      default: "true"
+  - arg:
+      name: launch_merge_from_private_module
+      default: "true"
+  - arg:
+      name: launch_blind_spot_module
+      default: "true"
+  - arg:
+      name: launch_detection_area_module
+      default: "true"
+  - arg:
+      name: launch_virtual_traffic_light_module
+      default: "false"
+  - arg:
+      name: launch_no_stopping_area_module
+      default: "true"
+  - arg:
+      name: launch_stop_line_module
+      default: "true"
+  - arg:
+      name: launch_occlusion_spot_module
+      default: "false"
+  - arg:
+      name: launch_run_out_module
+      default: "false"
+  - arg:
+      name: launch_speed_bump_module
+      default: "false"
+  - arg:
+      name: launch_out_of_lane_module
+      default: "true"
+  - arg:
+      name: launch_no_drivable_lane_module
+      default: "false"
   - arg:
       name: use_experimental_lane_change_function
       default: "true"
-
   - arg:
       name: launch_surround_obstacle_checker
       default: "true"
 
+  # motion planning modules
   - arg:
       name: motion_path_smoother_type
       default: elastic_band
@@ -82,6 +113,7 @@ launch:
       #         Linf(Unstable)
       #         Analytical
 
+  # parking modules
   - arg:
       name: launch_parking_module
       default: "true"
diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -4,7 +4,6 @@
 /**:
   ros__parameters:
     external_request_lane_change_left:
-      enable_module: false
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
@@ -13,7 +12,6 @@
       max_module_size: 1
 
     external_request_lane_change_right:
-      enable_module: false
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
@@ -22,7 +20,6 @@
       max_module_size: 1
 
     lane_change_left:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
@@ -31,7 +28,6 @@
       max_module_size: 1
 
     lane_change_right:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
@@ -40,7 +36,6 @@
       max_module_size: 1
 
     start_planner:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
@@ -49,7 +44,6 @@
       max_module_size: 1
 
     side_shift:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
@@ -58,7 +52,6 @@
       max_module_size: 1
 
     goal_planner:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
@@ -67,7 +60,6 @@
       max_module_size: 1
 
     avoidance:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
@@ -76,7 +68,6 @@
       max_module_size: 1
 
     avoidance_by_lc:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
@@ -85,7 +76,6 @@
       max_module_size: 1
 
     dynamic_avoidance:
-      enable_module: false
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true

diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -4,6 +4,85 @@
   <arg name="module_preset" default="default"/>
   <include file="$(find-pkg-share autoware_launch)/config/planning/preset/$(var module_preset)_preset.yaml"/>
 
+  <!-- assemble launch config for behavior velocity planner -->
+  <arg name="behavior_velocity_planner_launch_modules" default="["/>
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::CrosswalkModulePlugin, '&quot;)"
+    if="$(var launch_crosswalk_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::WalkwayModulePlugin, '&quot;)"
+    if="$(var launch_walkway_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::TrafficLightModulePlugin, '&quot;)"
+    if="$(var launch_traffic_light_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::IntersectionModulePlugin, '&quot;)"
+    if="$(var launch_intersection_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::MergeFromPrivateModulePlugin, '&quot;)"
+    if="$(var launch_merge_from_private_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::BlindSpotModulePlugin, '&quot;)"
+    if="$(var launch_blind_spot_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::DetectionAreaModulePlugin, '&quot;)"
+    if="$(var launch_detection_area_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::VirtualTrafficLightModulePlugin, '&quot;)"
+    if="$(var launch_virtual_traffic_light_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::NoStoppingAreaModulePlugin, '&quot;)"
+    if="$(var launch_no_stopping_area_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::StopLineModulePlugin, '&quot;)"
+    if="$(var launch_stop_line_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::OcclusionSpotModulePlugin, '&quot;)"
+    if="$(var launch_occlusion_spot_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::RunOutModulePlugin, '&quot;)"
+    if="$(var launch_run_out_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::SpeedBumpModulePlugin, '&quot;)"
+    if="$(var launch_speed_bump_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::OutOfLaneModulePlugin, '&quot;)"
+    if="$(var launch_out_of_lane_module)"
+  />
+  <let
+    name="behavior_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::NoDrivableLaneModulePlugin, '&quot;)"
+    if="$(var launch_no_drivable_lane_module)"
+  />
+  <let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + ']'&quot;)"/>
+
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>