diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
index e8661322215fe..89d04bc5b3a00 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -92,20 +92,23 @@ def launch_setup(context, *args, **kwargs):
surround_obstacle_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"]
surround_obstacle_checker_component = ComposableNode(
package="surround_obstacle_checker",
- plugin="SurroundObstacleCheckerNode",
+ plugin="surround_obstacle_checker::SurroundObstacleCheckerNode",
name="surround_obstacle_checker",
namespace="",
remappings=[
("~/output/no_start_reason", "/planning/scenario_planning/status/no_start_reason"),
("~/output/stop_reasons", "/planning/scenario_planning/status/stop_reasons"),
- ("~/output/trajectory", "surround_obstacle_checker/trajectory"),
+ ("~/output/max_velocity", "/planning/scenario_planning/max_velocity_candidates"),
+ (
+ "~/output/velocity_limit_clear_command",
+ "/planning/scenario_planning/clear_velocity_limit",
+ ),
(
"~/input/pointcloud",
"/perception/obstacle_segmentation/pointcloud",
),
("~/input/objects", "/perception/object_recognition/objects"),
("~/input/odometry", "/localization/kinematic_state"),
- ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"),
],
parameters=[
surround_obstacle_checker_param,
@@ -114,22 +117,6 @@ def launch_setup(context, *args, **kwargs):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
- # relay
- relay_component = ComposableNode(
- package="topic_tools",
- plugin="topic_tools::RelayNode",
- name="skip_surround_obstacle_check_relay",
- namespace="",
- parameters=[
- {
- "input_topic": "obstacle_avoidance_planner/trajectory",
- "output_topic": "surround_obstacle_checker/trajectory",
- "type": "autoware_auto_planning_msgs/msg/Trajectory",
- }
- ],
- extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
- )
-
# obstacle stop planner
obstacle_stop_planner_param_path = os.path.join(
get_package_share_directory("tier4_planning_launch"),
@@ -173,7 +160,7 @@ def launch_setup(context, *args, **kwargs):
),
("~/input/objects", "/perception/object_recognition/objects"),
("~/input/odometry", "/localization/kinematic_state"),
- ("~/input/trajectory", "surround_obstacle_checker/trajectory"),
+ ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"),
],
parameters=[
common_param,
@@ -202,13 +189,7 @@ def launch_setup(context, *args, **kwargs):
condition=IfCondition(LaunchConfiguration("use_surround_obstacle_check")),
)
- relay_loader = LoadComposableNodes(
- composable_node_descriptions=[relay_component],
- target_container=container,
- condition=UnlessCondition(LaunchConfiguration("use_surround_obstacle_check")),
- )
-
- group = GroupAction([container, surround_obstacle_checker_loader, relay_loader])
+ group = GroupAction([container, surround_obstacle_checker_loader])
return [group]
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
index 0fa8707e4fda9..3d195185d9bd6 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -19,22 +19,11 @@
-
-
-
-
-
-
-
-
-
-
-
@@ -45,7 +34,7 @@
-
+