feat: designate cruise planner type runtime (#539)

* feat: designate cruise planner type runtime Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Nov 9, 2022 · e282e15 · e282e15
1 parent d3503d3
commit e282e15
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Showing 5 changed files with 26 additions and 7 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -11,6 +11,7 @@
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <arg name="cruise_planner_type" default="obstacle_stop_planner" description="type of cruise planner"/>
 
   <!-- Global parameters -->
   <!-- Do not add "group" in order to propagate global parameters -->
@@ -82,6 +83,7 @@
     <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
     </include>
   </group>
 

diff --git a/planning_launch/launch/planning.launch.xml b/planning_launch/launch/planning.launch.xml
@@ -4,6 +4,7 @@
   <!-- pointcloud container -->
   <arg name="use_pointcloud_container" default="false"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="cruise_planner_type" default="obstacle_stop_planner"/>
 
   <group>
     <push-ros-namespace namespace="planning"/>
@@ -19,6 +20,7 @@
       <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/scenario_planning.launch.xml">
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="cruise_planner_type" value="$(var cruise_planner_type)" />
       </include>
     </group>
 

diff --git a/planning_launch/launch/scenario_planning/lane_driving.launch.xml b/planning_launch/launch/scenario_planning/lane_driving.launch.xml
@@ -5,6 +5,7 @@
   <!-- pointcloud container -->
   <arg name="use_pointcloud_container"/>
   <arg name="pointcloud_container_name"/>
+  <arg name="cruise_planner_type"/>
 
   <!-- lane_driving scenario -->
   <group>
@@ -28,6 +29,7 @@
       <push-ros-namespace namespace="motion_planning"/>
       <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py">
         <arg name="use_multithread" value="true" />
+        <arg name="cruise_planner_type" value="$(var cruise_planner_type)" />
       </include>
     </group>
   </group>

diff --git a/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -29,6 +29,19 @@
 
 
 def generate_launch_description():
+    launch_arguments = []
+
+    def add_launch_arg(name: str, default_value=None, description=None):
+        launch_arguments.append(
+            DeclareLaunchArgument(name, default_value=default_value, description=description)
+        )
+
+    add_launch_arg(
+        "cruise_planner_type",
+        "obstacle_stop_planner",
+        "cruise_planner: obstacle_stop_planner, obstacle_cruise_planner, none`",
+    )
+
     # planning common param path
     common_param_path = os.path.join(
         get_package_share_directory("planning_launch"),
@@ -237,19 +250,19 @@ def generate_launch_description():
     obstacle_stop_planner_loader = LoadComposableNodes(
         composable_node_descriptions=[obstacle_stop_planner_component],
         target_container=container,
-        condition=LaunchConfigurationEquals("cruise_planner", "obstacle_stop_planner"),
+        condition=LaunchConfigurationEquals("cruise_planner_type", "obstacle_stop_planner"),
     )
 
     obstacle_cruise_planner_loader = LoadComposableNodes(
         composable_node_descriptions=[obstacle_cruise_planner_component],
         target_container=container,
-        condition=LaunchConfigurationEquals("cruise_planner", "obstacle_cruise_planner"),
+        condition=LaunchConfigurationEquals("cruise_planner_type", "obstacle_cruise_planner"),
     )
 
     obstacle_cruise_planner_relay_loader = LoadComposableNodes(
         composable_node_descriptions=[obstacle_cruise_planner_relay_component],
         target_container=container,
-        condition=LaunchConfigurationEquals("cruise_planner", "none"),
+        condition=LaunchConfigurationEquals("cruise_planner_type", "none"),
     )
 
     surround_obstacle_checker_loader = LoadComposableNodes(
@@ -270,15 +283,13 @@ def generate_launch_description():
     )
 
     return launch.LaunchDescription(
-        [
+        launch_arguments
+        + [
             DeclareLaunchArgument(
                 "input_path_topic",
                 default_value="/planning/scenario_planning/lane_driving/behavior_planning/path",
             ),
             DeclareLaunchArgument("use_surround_obstacle_check", default_value="true"),
-            DeclareLaunchArgument(
-                "cruise_planner", default_value="obstacle_stop_planner"
-            ),  # select from "obstacle_stop_planner", "obstacle_cruise_planner", "none"
             DeclareLaunchArgument("use_intra_process", default_value="false"),
             DeclareLaunchArgument("use_multithread", default_value="false"),
             set_container_executable,

diff --git a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -6,6 +6,7 @@
   <!-- pointcloud container -->
   <arg name="use_pointcloud_container"/>
   <arg name="pointcloud_container_name"/>
+  <arg name="cruise_planner_type"/>
 
   <!-- scenario selector -->
   <include file="$(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml">
@@ -47,6 +48,7 @@
       <arg name="common_param_path" value="$(var common_param_path)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="cruise_planner_type" value="$(var cruise_planner_type)" />
     </include>
     <!-- parking -->
     <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/parking.launch.py">