fix: add obstacle stop param to launch (#570)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
tier4 · Nov 22, 2022 · 4b0cebb · 4b0cebb
1 parent 03df514
commit 4b0cebb
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -23,6 +23,7 @@
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="cruise_planner_type" default="obstacle_stop_planner" description="type of cruise planner"/>
   <arg name="launch_vehicle_interface" default="false"/>
   <!-- Optional parameters for scenario simulation -->
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
@@ -100,6 +101,7 @@
     <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml" if="$(var planning)">
       <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/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -11,6 +11,7 @@
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <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"/>
   <!-- Optional parameters for scenario simulation -->
   <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
   <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
@@ -58,7 +59,9 @@
 
   <!-- Planning -->
   <group>
-    <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml"/>
+    <include file="$(find-pkg-share planning_launch)/launch/planning.launch.xml">
+      <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
+    </include>
   </group>
 
   <!-- Control -->