diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 5f2af36436..5b14dd9849 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -11,6 +11,7 @@
+
@@ -82,6 +83,7 @@
+
diff --git a/planning_launch/launch/planning.launch.xml b/planning_launch/launch/planning.launch.xml
index 6e117d6616..8116564f87 100644
--- a/planning_launch/launch/planning.launch.xml
+++ b/planning_launch/launch/planning.launch.xml
@@ -4,6 +4,7 @@
+
@@ -19,6 +20,7 @@
+
diff --git a/planning_launch/launch/scenario_planning/lane_driving.launch.xml b/planning_launch/launch/scenario_planning/lane_driving.launch.xml
index e232b7a0af..a762fefa93 100644
--- a/planning_launch/launch/scenario_planning/lane_driving.launch.xml
+++ b/planning_launch/launch/scenario_planning/lane_driving.launch.xml
@@ -5,6 +5,7 @@
+
@@ -28,6 +29,7 @@
+
diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
index db68a478cf..e1f27d2b44 100644
--- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
+++ b/planning_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
index f56685a7cc..fc06076d5a 100644
--- a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml
+++ b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -6,6 +6,7 @@
+
@@ -47,6 +48,7 @@
+