update

Signed-off-by: Barış Zeren <[email protected]>

autoware_launch/config/map/dynamic_lanelet_provider.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    dynamic_map_loading_grid_size: 50.0         # [m]
+    dynamic_map_loading_update_distance: 100.0  # [m]
+    dynamic_map_loading_map_radius: 200.0       # [m]

autoware_launch/launch/components/tier4_map_component.launch.xml

@@ -1,6 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.xml">
+    <arg name="enable_differential_map_loading" default="false"/>
+
     <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
     <arg name="pointcloud_map_metadata_path" value="$(var map_path)/pointcloud_map_metadata.yaml"/>
     <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
@@ -9,7 +11,7 @@
 
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
     <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>
-    <arg name="dynamic_lanelet_provider_param_path" value="$(find-pkg-share autoware_dynamic_lanelet_provider)/config/dynamic_lanelet_provider.param.yaml"/>
+    <arg name="dynamic_lanelet_provider_param_path" value="$(find-pkg-share autoware_launch)/config/dynamic_lanelet_provider.param.yaml"/>
     <arg name="map_tf_generator_param_path" value="$(find-pkg-share autoware_launch)/config/map/map_tf_generator.param.yaml"/>
     <arg name="map_projection_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/map_projection_loader.param.yaml"/>
   </include>

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -3,12 +3,14 @@
   <!-- NOTE: optional parameters are written here -->
   <arg name="module_preset" default="default"/>
   <arg name="enable_all_modules_auto_mode" default="false"/>
+  <arg name="enable_differential_map_loading" default="false"/>
   <arg name="is_simulation" default="false"/>
   <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 $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="enable_differential_map_loading" value="$(var enable_differential_map_loading)"/>
     <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
     <arg name="is_simulation" value="$(var is_simulation)"/>