Remove debug changes in behavior_planning.launch.py

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
autowarefoundation · Mar 28, 2023 · 0392560 · 0392560
1 parent cd5c715
commit 0392560
Showing 1 changed file with 4 additions and 8 deletions.
diff --git a/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -151,12 +151,9 @@ def launch_setup(context, *args, **kwargs):
     ) as f:
         behavior_velocity_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
-    from launch_ros.actions import Node
-
-    behavior_velocity_planner_component = Node(
+    behavior_velocity_planner_component = ComposableNode(
         package="behavior_velocity_planner",
-        # plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode",
-        executable="behavior_velocity_planner_node",
+        plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode",
         name="behavior_velocity_planner",
         namespace="",
         remappings=[
@@ -222,8 +219,7 @@ def launch_setup(context, *args, **kwargs):
             motion_velocity_smoother_param,
             behavior_velocity_smoother_type_param,
         ],
-        # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        prefix="konsole -e gdb -ex run --args",
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
     container = ComposableNodeContainer(
@@ -233,6 +229,7 @@ def launch_setup(context, *args, **kwargs):
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[
             behavior_path_planner_component,
+            behavior_velocity_planner_component,
         ],
         output="screen",
     )
@@ -289,7 +286,6 @@ def launch_setup(context, *args, **kwargs):
             container,
             load_compare_map,
             load_vector_map_inside_area_filter,
-            behavior_velocity_planner_component,
         ]
     )