-
Notifications
You must be signed in to change notification settings - Fork 669
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
refactor(tier4_planning_launch): use xml style launch
Signed-off-by: satoshi-ota <[email protected]>
- Loading branch information
1 parent
619d367
commit 39f11da
Showing
5 changed files
with
200 additions
and
46 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
224 changes: 193 additions & 31 deletions
224
...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,42 +1,204 @@ | ||
| <launch> | ||
| <!-- common param --> | ||
| <arg name="common_param_path"/> | ||
| <arg name="vehicle_param_file"/> | ||
| <arg name="interface_input_topic" default="/planning/scenario_planning/lane_driving/behavior_planning/path"/> | ||
| <arg name="interface_output_topic" default="/planning/scenario_planning/lane_driving/trajectory"/> | ||
|
|
||
| <arg name="input_path_topic" default="/planning/scenario_planning/lane_driving/behavior_planning/path"/> | ||
| <arg name="use_surround_obstacle_check" default="true"/> | ||
| <node_container pkg="rclcpp_components" exec="$(var container_type)" name="motion_planning_container" namespace="" args=""> | ||
| <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/> | ||
| </node_container> | ||
|
|
||
| <!-- path planning for avoiding obstacle with dynamic object info --> | ||
| <!-- path smoothing --> | ||
| <group> | ||
| <include file="$(find-pkg-share obstacle_avoidance_planner)/launch/obstacle_avoidance_planner.launch.xml"> | ||
| <arg name="param_path" value="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"/> | ||
| <arg name="input_path_topic" value="$(var input_path_topic)"/> | ||
| <arg name="output_path_topic" value="obstacle_avoidance_planner/trajectory"/> | ||
| <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/> | ||
| </include> | ||
| <group if="$(eval "'$(var motion_path_smoother_type)' == 'elastic_band'")"> | ||
| <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container"> | ||
| <composable_node pkg="path_smoother" plugin="path_smoother::ElasticBandSmoother" name="elastic_band_smoother" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="~/input/path" to="$(var interface_input_topic)"/> | ||
| <remap from="~/input/odometry" to="/localization/kinematic_state"/> | ||
| <remap from="~/output/path" to="path_smoother/path"/> | ||
| <!-- params --> | ||
| <param from="$(var common_param_path)"/> | ||
| <param from="$(var vehicle_param_file)"/> | ||
| <param from="$(var nearest_search_param_path)"/> | ||
| <param from="$(var elastic_band_smoother_param_path)"/> | ||
| <!-- composable node config --> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
|
|
||
| <group if="$(eval "'$(var motion_path_smoother_type)' == 'none'")"> | ||
| <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container"> | ||
| <composable_node pkg="topic_tools" plugin="topic_tools::RelayNode" name="path_smoother_relay" namespace=""> | ||
| <!-- params --> | ||
| <param name="input_topic" value="$(var interface_input_topic)"/> | ||
| <param name="output_topic" value="path_smoother/path"/> | ||
| <param name="type" value="autoware_auto_planning_msgs/msg/Trajectory"/> | ||
| <!-- composable node config --> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
| </group> | ||
|
|
||
| <!-- surround obstacle checker (Do not start if there are pedestrian/bicycles around ego-car) --> | ||
| <group if="$(var use_surround_obstacle_check)"> | ||
| <include file="$(find-pkg-share surround_obstacle_checker)/launch/surround_obstacle_checker.launch.xml"> | ||
| <arg name="param_path" value="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml"/> | ||
| <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/> | ||
| </include> | ||
| <!-- generate kinematic-feasible path --> | ||
| <group> | ||
| <group if="$(eval "'$(var motion_path_planner_type)' == 'obstacle_avoidance_planner'")"> | ||
| <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container"> | ||
| <composable_node pkg="obstacle_avoidance_planner" plugin="obstacle_avoidance_planner::ObstacleAvoidancePlanner" name="obstacle_avoidance_planner" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="~/input/path" to="path_smoother/path"/> | ||
| <remap from="~/input/odometry" to="/localization/kinematic_state"/> | ||
| <remap from="~/output/path" to="obstacle_avoidance_planner/trajectory"/> | ||
| <!-- params --> | ||
| <param from="$(var common_param_path)"/> | ||
| <param from="$(var vehicle_param_file)"/> | ||
| <param from="$(var nearest_search_param_path)"/> | ||
| <param from="$(var obstacle_avoidance_planner_param_path)"/> | ||
| <!-- composable node config --> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
|
|
||
| <group if="$(eval "'$(var motion_path_planner_type)' == 'path_sampler'")"> | ||
| <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container"> | ||
| <composable_node pkg="path_sampler" plugin="path_sampler::PathSampler" name="path_sampler" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="~/input/path" to="path_smoother/path"/> | ||
| <remap from="~/input/odometry" to="/localization/kinematic_state"/> | ||
| <remap from="~/output/path" to="obstacle_avoidance_planner/trajectory"/> | ||
| <!-- params --> | ||
| <param from="$(var common_param_path)"/> | ||
| <param from="$(var vehicle_param_file)"/> | ||
| <param from="$(var nearest_search_param_path)"/> | ||
| <param from="$(var path_sampler_param_path)"/> | ||
| <!-- composable node config --> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
|
|
||
| <group if="$(eval "'$(var motion_path_planner_type)' == 'none'")"> | ||
| <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container"> | ||
| <composable_node pkg="planning_topic_converter" plugin="planning_topic_converter::PathToTrajectory" name="path_to_trajectory_converter" namespace=""> | ||
| <!-- params --> | ||
| <param name="input_topic" value="path_smoother/path"/> | ||
| <param name="output_topic" value="obstacle_avoidance_planner/trajectory"/> | ||
| <!-- composable node config --> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
| </group> | ||
|
|
||
| <!-- stop velocity planning with obstacle pointcloud info --> | ||
| <!-- velocity limiter --> | ||
| <group> | ||
| <include file="$(find-pkg-share obstacle_stop_planner)/launch/obstacle_stop_planner.launch.xml"> | ||
| <!-- load config files --> | ||
| <arg name="common_param_path" value="$(var common_param_path)"/> | ||
| <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/> | ||
| <arg name="adaptive_cruise_control_param_path" value="$(find-pkg-share tier4_planning_launch)/config/obstacle_stop_planner/adaptive_cruise_control.param.yaml"/> | ||
| <arg name="obstacle_stop_planner_param_path" value="$(find-pkg-share tier4_planning_launch)/config/obstacle_stop_planner/obstacle_stop_planner.param.yaml"/> | ||
| <arg name="enable_slow_down" value="false"/> | ||
| <!-- remap topic name --> | ||
| <arg name="input_trajectory" value="obstacle_avoidance_planner/trajectory"/> | ||
| <arg name="input_pointcloud" value="/perception/obstacle_segmentation/pointcloud"/> | ||
| <arg name="output_trajectory" value="/planning/scenario_planning/lane_driving/trajectory"/> | ||
| </include> | ||
| <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container"> | ||
| <composable_node pkg="obstacle_velocity_limiter" plugin="obstacle_velocity_limiter::ObstacleVelocityLimiterNode" name="obstacle_velocity_limiter" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="~/input/trajectory" to="obstacle_avoidance_planner/trajectory"/> | ||
| <remap from="~/input/odometry" to="/localization/kinematic_state"/> | ||
| <remap from="~/input/dynamic_obstacles" to="/perception/object_recognition/objects"/> | ||
| <remap from="~/input/occupancy_grid" to="/perception/occupancy_grid_map/map"/> | ||
| <remap from="~/input/obstacle_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/> | ||
| <remap from="~/input/map" to="/map/vector_map"/> | ||
| <remap from="~/output/trajectory" to="obstacle_velocity_limiter/trajectory"/> | ||
| <remap from="~/output/debug_markers" to="debug_markers"/> | ||
| <!-- params --> | ||
| <param from="$(var common_param_path)"/> | ||
| <param from="$(var vehicle_param_file)"/> | ||
| <param from="$(var nearest_search_param_path)"/> | ||
| <param from="$(var obstacle_velocity_limiter_param_path)"/> | ||
| <!-- composable node config --> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
|
|
||
| <!-- obstacle stop, adaptive cruise --> | ||
| <group> | ||
| <group if="$(eval "'$(var motion_stop_planner_type)' == 'obstacle_cruise_planner'")"> | ||
| <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container"> | ||
| <composable_node pkg="obstacle_cruise_planner" plugin="obstacle_cruise_planner::ObstacleCruisePlannerNode" name="obstacle_cruise_planner" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="~/input/trajectory" to="obstacle_velocity_limiter/trajectory"/> | ||
| <remap from="~/input/odometry" to="/localization/kinematic_state"/> | ||
| <remap from="~/input/acceleration" to="/localization/acceleration"/> | ||
| <remap from="~/input/objects" to="/perception/object_recognition/objects"/> | ||
| <remap from="~/output/trajectory" to="$(var interface_output_topic)"/> | ||
| <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/> | ||
| <remap from="~/output/max_velocity" to="/planning/scenario_planning/max_velocity_candidates"/> | ||
| <remap from="~/output/velocity_limit_clear_command" to="/planning/scenario_planning/clear_velocity_limit"/> | ||
| <!-- params --> | ||
| <param from="$(var common_param_path)"/> | ||
| <param from="$(var vehicle_param_file)"/> | ||
| <param from="$(var nearest_search_param_path)"/> | ||
| <param from="$(var obstacle_cruise_planner_param_path)"/> | ||
| <!-- composable node config --> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
|
|
||
| <group if="$(eval "'$(var motion_stop_planner_type)' == 'obstacle_stop_planner'")"> | ||
| <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container"> | ||
| <composable_node pkg="obstacle_stop_planner" plugin="motion_planning::ObstacleStopPlannerNode" name="obstacle_stop_planner" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="~/input/trajectory" to="obstacle_velocity_limiter/trajectory"/> | ||
| <remap from="~/input/odometry" to="/localization/kinematic_state"/> | ||
| <remap from="~/input/acceleration" to="/localization/acceleration"/> | ||
| <remap from="~/input/pointcloud" to="/perception/obstacle_segmentation/pointcloud"/> | ||
| <remap from="~/input/objects" to="/perception/object_recognition/objects"/> | ||
| <remap from="~/output/trajectory" to="$(var interface_output_topic)"/> | ||
| <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/> | ||
| <remap from="~/output/max_velocity" to="/planning/scenario_planning/max_velocity_candidates"/> | ||
| <remap from="~/output/velocity_limit_clear_command" to="/planning/scenario_planning/clear_velocity_limit"/> | ||
| <!-- params --> | ||
| <param from="$(var common_param_path)"/> | ||
| <param from="$(var vehicle_param_file)"/> | ||
| <param from="$(var nearest_search_param_path)"/> | ||
| <param from="$(var obstacle_stop_planner_param_path)"/> | ||
| <param from="$(var obstacle_stop_planner_acc_param_path)"/> | ||
| <!-- composable node config --> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
|
|
||
| <group if="$(eval "'$(var motion_stop_planner_type)' == 'none'")"> | ||
| <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container"> | ||
| <composable_node pkg="topic_tools" plugin="topic_tools::RelayNode" name="obstacle_stop_relay" namespace=""> | ||
| <!-- params --> | ||
| <param name="input_topic" value="obstacle_velocity_limiter/trajectory"/> | ||
| <param name="output_topic" value="$(var interface_output_topic)"/> | ||
| <param name="type" value="autoware_auto_planning_msgs/msg/Trajectory"/> | ||
| <!-- composable node config --> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
| </group> | ||
|
|
||
| <!-- surround obstacle check --> | ||
| <group if="$(var enable_surround_check)"> | ||
| <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container"> | ||
| <composable_node pkg="surround_obstacle_checker" plugin="surround_obstacle_checker::SurroundObstacleCheckerNode" name="surround_obstacle_checker" namespace=""> | ||
| <!-- topic remap --> | ||
| <remap from="~/input/odometry" to="/localization/kinematic_state"/> | ||
| <remap from="~/input/objects" to="/perception/object_recognition/objects"/> | ||
| <remap from="~/input/pointcloud" to="/perception/obstacle_segmentation/pointcloud"/> | ||
| <remap from="~/output/max_velocity" to="/planning/scenario_planning/max_velocity_candidates"/> | ||
| <remap from="~/output/velocity_limit_clear_command" to="/planning/scenario_planning/clear_velocity_limit"/> | ||
| <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/> | ||
| <remap from="~/output/no_start_reason" to="/planning/scenario_planning/status/no_start_reason"/> | ||
| <!-- params --> | ||
| <param from="$(var common_param_path)"/> | ||
| <param from="$(var vehicle_param_file)"/> | ||
| <param from="$(var nearest_search_param_path)"/> | ||
| <param from="$(var surround_obstacle_checker_param_path)"/> | ||
| <!-- composable node config --> | ||
| <extra_arg name="use_intra_process_comms" value="false"/> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
| </launch> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters