From 1c8cffaa809853f346dce9c473491c522232c793 Mon Sep 17 00:00:00 2001
From: Shohei Sakai <saka1s.jp@gmail.com>
Date: Fri, 16 Feb 2024 10:05:29 +0900
Subject: [PATCH] =?UTF-8?q?feat(planning):=20add=20enable=5Fall=5Fmodules?=
 =?UTF-8?q?=5Fauto=5Fmode=20argument=20to=20launch=20f=E2=80=A6=20(#577)?=
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feat(planning): add enable_all_modules_auto_mode argument to launch files for planning modules (#798)

* Add auto mode setting for all modules

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
---
 autoware_launch/launch/autoware.launch.xml                    | 3 +++
 .../launch/components/tier4_planning_component.launch.xml     | 2 ++
 autoware_launch/launch/planning_simulator.launch.xml          | 4 ++++
 3 files changed, 9 insertions(+)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index d2e637c004..24c22533e2 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -47,6 +47,8 @@
   <arg name="perception_mode" default="camera_lidar_radar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
   <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/>
+  <!-- Auto mode setting-->
+  <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -106,6 +108,7 @@
   <group if="$(var launch_planning)">
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
       <arg name="module_preset" value="$(var planning_module_preset)"/>
+      <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
     </include>
   </group>
 
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index a3af685b83..2b6511cdf6 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -2,12 +2,14 @@
 <launch>
   <!-- NOTE: optional parameters are written here -->
   <arg name="module_preset" default="x2"/>
+  <arg name="enable_all_modules_auto_mode" 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 $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
 
     <!-- common -->
     <arg name="common_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index f268add825..c519ffdc48 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -30,6 +30,8 @@
   <let name="rviz_respawn" value="true" unless="$(var scenario_simulation)"/>
   <!-- Vcu emulation -->
   <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
+  <!-- Auto mode setting-->
+  <arg name="enable_all_modules_auto_mode" default="$(var scenario_simulation)" description="enable all module's auto mode"/>
 
   <group scoped="false">
     <!-- Vehicle -->
@@ -65,6 +67,8 @@
       <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
       <!-- V2X -->
       <arg name="launch_v2x" value="false"/>
+      <!-- Auto mode setting-->
+      <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
       <!-- L4 Toolkit -->
       <arg name="launch_l4_toolkit" value="true"/>
     </include>