refactor(launch): add new option to select planning preset (#680)

* chore(config): remove behavior launch modules Signed-off-by: satoshi-ota <[email protected]> * refactor(config): add preset yaml file Signed-off-by: satoshi-ota <[email protected]> * refactor(launch): add new option to select planning preset Signed-off-by: satoshi-ota <[email protected]> * refactor(config): remove unused params Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Nov 8, 2023 · 0cd5d89 · 0cd5d89
1 parent 5ba1301
commit 0cd5d89
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Showing 9 changed files with 147 additions and 48 deletions.
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -0,0 +1,120 @@
+launch:
+  # 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: 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"
+  - arg:
+      name: use_experimental_lane_change_function
+      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"
+
+  # motion planning modules
+  - arg:
+      name: motion_path_smoother_type
+      default: elastic_band
+      # option: elastic_band
+      #         none
+
+  - arg:
+      name: motion_path_planner_type
+      default: obstacle_avoidance_planner
+      # option: obstacle_avoidance_planner
+      #         path_sampler
+      #         none
+
+  - arg:
+      name: motion_stop_planner_type
+      default: obstacle_stop_planner
+      # option: obstacle_stop_planner
+      #         obstacle_cruise_planner
+      #         none
+
+  - arg:
+      name: motion_velocity_smoother_type
+      default: JerkFiltered
+      # option: JerkFiltered
+      #         L2
+      #         Linf(Unstable)
+      #         Analytical
+
+  - arg:
+      name: launch_surround_obstacle_checker
+      default: "true"
+
+  # parking modules
+  - arg:
+      name: launch_parking_module
+      default: "true"
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -5,9 +5,6 @@
 
     traffic_light_signal_timeout: 1.0
 
-    groot_zmq_publisher_port: 1666
-    groot_zmq_server_port: 1667
-
     planning_hz: 10.0
     backward_path_length: 5.0
     forward_path_length: 300.0

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/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -8,19 +8,3 @@
     system_delay: 0.5
     delay_response_time: 0.5
     is_publish_debug_path: false # publish all debug path with lane id in each module
-    launch_modules:
-      - behavior_velocity_planner::CrosswalkModulePlugin
-      - behavior_velocity_planner::WalkwayModulePlugin
-      - behavior_velocity_planner::TrafficLightModulePlugin
-      - behavior_velocity_planner::IntersectionModulePlugin      # Intersection module should be before merge from private to declare intersection parameters.
-      - behavior_velocity_planner::MergeFromPrivateModulePlugin
-      - behavior_velocity_planner::BlindSpotModulePlugin
-      - behavior_velocity_planner::DetectionAreaModulePlugin
-      # behavior_velocity_planner::VirtualTrafficLightModulePlugin
-      - behavior_velocity_planner::NoStoppingAreaModulePlugin     # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom.
-      - behavior_velocity_planner::StopLineModulePlugin           # Permanent stop line module should be after no stopping area
-      # behavior_velocity_planner::OcclusionSpotModulePlugin
-      # behavior_velocity_planner::RunOutModulePlugin
-      # behavior_velocity_planner::SpeedBumpModulePlugin
-      - behavior_velocity_planner::OutOfLaneModulePlugin
-      # behavior_velocity_planner::NoDrivableLaneModulePlugin
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -8,6 +8,9 @@
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
+  <!-- launch module preset -->
+  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
   <arg name="launch_vehicle" default="true" description="launch vehicle"/>
@@ -98,7 +101,9 @@
 
   <!-- Planning -->
   <group if="$(var launch_planning)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
+      <arg name="module_preset" value="$(var planning_module_preset)"/>
+    </include>
   </group>
 
   <!-- Control -->

diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -1,31 +1,16 @@
 <?xml version="1.0"?>
 <launch>
   <!-- NOTE: optional parameters are written here -->
-  <!-- behavior -->
-  <arg name="use_experimental_lane_change_function" default="true"/>
-  <!-- motion -->
-  <arg name="motion_path_smoother_type" default="elastic_band" description="options: elastic_band, none"/>
-  <arg name="motion_path_planner_type" default="obstacle_avoidance_planner" description="options: obstacle_avoidance_planner, path_sampler, none"/>
-  <arg name="motion_stop_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
-  <arg name="motion_velocity_smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
-  <arg name="enable_surround_check" default="true"/>
-
-  <!-- variables -->
-  <arg name="behavior_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning"/>
-  <arg name="behavior_path_config_path" default="$(var behavior_config_path)/behavior_path_planner"/>
-  <arg name="behavior_velocity_config_path" default="$(var behavior_config_path)/behavior_velocity_planner"/>
-  <arg name="motion_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
-  <arg name="common_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
-
-  <!-- parking module -->
-  <arg name="launch_parking_module" default="true"/>
+  <arg name="module_preset" default="default"/>
+  <include file="$(find-pkg-share autoware_launch)/config/planning/preset/$(var module_preset)_preset.yaml"/>
 
   <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)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
 
     <!-- common -->
+    <arg name="common_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
     <arg name="common_param_path" value="$(var common_config_path)/common.param.yaml"/>
     <arg name="nearest_search_param_path" value="$(var common_config_path)/nearest_search.param.yaml"/>
     <arg name="costmap_generator_param_path" value="$(var common_config_path)/costmap_generator.param.yaml"/>
@@ -34,6 +19,7 @@
     <arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>
 
     <!-- behavior path planner -->
+    <arg name="behavior_path_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"/>
     <arg name="behavior_path_planner_common_param_path" value="$(var behavior_path_config_path)/behavior_path_planner.param.yaml"/>
     <arg name="behavior_path_planner_scene_module_manager_param_path" value="$(var behavior_path_config_path)/scene_module_manager.param.yaml"/>
     <arg name="behavior_path_planner_side_shift_module_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
@@ -46,6 +32,7 @@
     <arg name="behavior_path_planner_drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
 
     <!-- behavior velocity planner -->
+    <arg name="behavior_velocity_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"/>
     <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
     <arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
     <arg name="behavior_velocity_planner_blind_spot_module_param_path" value="$(var behavior_velocity_config_path)/blind_spot.param.yaml"/>
@@ -68,6 +55,7 @@
     <arg name="freespace_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>
 
     <!-- motion -->
+    <arg name="motion_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
     <arg name="elastic_band_smoother_param_path" value="$(var motion_config_path)/path_smoother/elastic_band_smoother.param.yaml"/>
     <arg name="obstacle_avoidance_planner_param_path" value="$(var motion_config_path)/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"/>
     <arg name="path_sampler_param_path" value="$(var motion_config_path)/path_sampler/path_sampler.param.yaml"/>

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -6,6 +6,9 @@
   <arg name="sensor_model" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
+  <!-- launch module preset -->
+  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
   <arg name="vehicle" default="true" description="launch vehicle"/>
@@ -43,6 +46,8 @@
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="data_path" value="$(var data_path)"/>
+      <!-- launch module preset -->
+      <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
       <!-- Modules to be launched -->
       <arg name="launch_vehicle" value="$(var vehicle)"/>
       <arg name="launch_map" value="$(var map)"/>

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -7,6 +7,9 @@
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
+  <!-- launch module preset -->
+  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
   <arg name="vehicle" default="true" description="launch vehicle"/>
@@ -39,6 +42,8 @@
       <arg name="map_path" value="$(var map_path)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
+      <!-- launch module preset -->
+      <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
       <!-- Modules to be launched -->
       <arg name="launch_vehicle" value="$(var vehicle)"/>
       <arg name="launch_map" value="$(var map)"/>

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -6,6 +6,9 @@
   <arg name="sensor_model" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
+  <!-- launch module preset -->
+  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+
   <!-- Optional parameters -->
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
@@ -39,6 +42,8 @@
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="data_path" value="$(var data_path)"/>
+      <!-- launch module preset -->
+      <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
       <!-- Modules to be launched -->
       <arg name="launch_sensing" value="false"/>
       <arg name="launch_localization" value="false"/>