behavior_path_planner.launch.xml

<?xml version="1.0"?>
<launch>
  <!-- common -->
  <arg name="common_param_path"/>
  <arg name="vehicle_param_file"/>
  <arg name="nearest_search_param_path"/>

  <!-- launch module -->
  <arg name="launch_avoidance_module"/>
  <arg name="launch_avoidance_by_lane_change_module"/>
  <arg name="launch_dynamic_avoidance_module"/>
  <arg name="launch_lane_change_right_module"/>
  <arg name="launch_lane_change_left_module"/>
  <arg name="launch_external_request_lane_change_right_module"/>
  <arg name="launch_external_request_lane_change_left_module"/>
  <arg name="launch_goal_planner_module"/>
  <arg name="launch_start_planner_module"/>
  <arg name="launch_side_shift_module"/>
  <arg name="use_experimental_lane_change_function"/>

  <!-- module config path -->
  <arg name="behavior_path_config_path"/>
  <arg name="behavior_path_planner_common_param_path"/>
  <arg name="behavior_path_planner_scene_module_manager_param_path"/>
  <arg name="behavior_path_planner_side_shift_module_param_path"/>
  <arg name="behavior_path_planner_avoidance_module_param_path"/>
  <arg name="behavior_path_planner_avoidance_by_lc_module_param_path"/>
  <arg name="behavior_path_planner_dynamic_avoidance_module_param_path"/>
  <arg name="behavior_path_planner_lane_change_module_param_path"/>
  <arg name="behavior_path_planner_goal_planner_module_param_path"/>
  <arg name="behavior_path_planner_start_planner_module_param_path"/>
  <arg name="behavior_path_planner_drivable_area_expansion_param_path"/>

  <node pkg="behavior_path_planner" exec="behavior_path_planner" name="behavior_path_planner" output="screen">
    <!-- topic remap -->
    <remap from="~/input/route" to="/planning/scenario_planning/scenario"/>
    <remap from="~/input/vector_map" to="/map/vector_map"/>
    <remap from="~/input/perception" to="/perception/object_recognition/objects"/>
    <remap from="~/input/occupancy_grid_map" to="/perception/occupancy_grid_map/map"/>
    <remap from="~/input/costmap" to="/planning/scenario_planning/parking/costmap_generator/occupancy_grid"/>
    <remap from="~/input/traffic_signals" to="/perception/traffic_light_recognition/traffic_signals"/>
    <remap from="~/input/odometry" to="/localization/kinematic_state"/>
    <remap from="~/input/accel" to="/localization/acceleration"/>
    <remap from="~/input/scenario" to="/planning/scenario_planning/scenario"/>
    <remap from="~/output/path" to="path_with_lane_id"/>
    <remap from="~/output/turn_indicators_cmd" to="/planning/turn_indicators_cmd"/>
    <remap from="~/output/hazard_lights_cmd" to="/planning/hazard_lights_cmd"/>
    <remap from="~/output/modified_goal" to="/planning/scenario_planning/modified_goal"/>
    <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
    <!-- params -->
    <param name="avoidance.enable_module" value="$(var launch_avoidance_module)"/>
    <param name="avoidance_by_lc.enable_module" value="$(var launch_avoidance_by_lane_change_module)"/>
    <param name="dynamic_avoidance.enable_module" value="$(var launch_dynamic_avoidance_module)"/>
    <param name="lane_change_right.enable_module" value="$(var launch_lane_change_right_module)"/>
    <param name="lane_change_left.enable_module" value="$(var launch_lane_change_left_module)"/>
    <param name="external_request_lane_change_left.enable_module" value="$(var launch_external_request_lane_change_left_module)"/>
    <param name="external_request_lane_change_right.enable_module" value="$(var launch_external_request_lane_change_right_module)"/>
    <param name="goal_planner.enable_module" value="$(var launch_goal_planner_module)"/>
    <param name="start_planner.enable_module" value="$(var launch_start_planner_module)"/>
    <param name="side_shift.enable_module" value="$(var launch_side_shift_module)"/>
    <param name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
    <!-- load config -->
    <param from="$(var common_param_path)"/>
    <param from="$(var vehicle_param_file)"/>
    <param from="$(var nearest_search_param_path)"/>
    <param from="$(var behavior_path_planner_common_param_path)"/>
    <param from="$(var behavior_path_planner_scene_module_manager_param_path)"/>
    <param from="$(var behavior_path_planner_side_shift_module_param_path)"/>
    <param from="$(var behavior_path_planner_avoidance_module_param_path)"/>
    <param from="$(var behavior_path_planner_avoidance_by_lc_module_param_path)"/>
    <param from="$(var behavior_path_planner_dynamic_avoidance_module_param_path)"/>
    <param from="$(var behavior_path_planner_lane_change_module_param_path)"/>
    <param from="$(var behavior_path_planner_goal_planner_module_param_path)"/>
    <param from="$(var behavior_path_planner_start_planner_module_param_path)"/>
    <param from="$(var behavior_path_planner_drivable_area_expansion_param_path)"/>
  </node>
</launch>