refactor(tier4_planning_launch): use xml style launch (autowarefounda…

…tion#5470) * refactor(tier4_planning_launch): use xml style launch Signed-off-by: satoshi-ota <[email protected]> * refactor(tier4_planning_launch): remove python style launch Signed-off-by: satoshi-ota <[email protected]> * fix(tier4_plannning_launch): fix namespace Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
tier4 · Nov 30, 2023 · 4758e13 · 4758e13
1 parent 913d6f5
commit 4758e13
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Showing 6 changed files with 200 additions and 433 deletions.
diff --git a/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml
@@ -5,14 +5,6 @@
   <arg name="mission_planner_param_path"/>
   <!-- parking -->
   <arg name="freespace_planner_param_path"/>
-  <!-- motion -->
-  <arg name="obstacle_avoidance_planner_param_path"/>
-  <arg name="path_sampler_param_path"/>
-  <arg name="obstacle_velocity_limiter_param_path"/>
-  <arg name="surround_obstacle_checker_param_path"/>
-  <arg name="obstacle_stop_planner_param_path"/>
-  <arg name="obstacle_stop_planner_acc_param_path"/>
-  <arg name="obstacle_cruise_planner_param_path"/>
   <!-- planning validator -->
   <arg name="planning_validator_param_path"/>
 

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml
@@ -22,12 +22,11 @@
     <!-- motion planning module -->
     <group>
       <push-ros-namespace namespace="motion_planning"/>
-      <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py">
-        <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
-        <arg name="use_multithread" value="true"/>
-        <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
-        <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
-      </include>
+      <group>
+        <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml">
+          <arg name="container_type" value="component_container_mt"/>
+        </include>
+      </group>
     </group>
   </group>
 </launch>