behavior_planning.launch.xml

<launch>
  <arg name="input_route_topic_name" default="/planning/mission_planning/route"/>
  <arg name="input_traffic_light_topic_name" default="/perception/traffic_light_recognition/traffic_signals"/>
  <arg name="input_virtual_traffic_light_topic_name" default="/awapi/tmp/virtual_traffic_light_states"/>
  <arg name="input_vector_map_topic_name" default="/map/vector_map"/>
  <arg name="input_pointcloud_map_topic_name" default="/map/pointcloud_map"/>
  <arg name="enable_all_modules_auto_mode"/>
  <arg name="is_simulation"/>

  <arg name="launch_avoidance_module" default="true"/>
  <arg name="launch_avoidance_by_lane_change_module" default="true"/>
  <arg name="launch_dynamic_avoidance_module" default="true"/>
  <arg name="launch_lane_change_right_module" default="true"/>
  <arg name="launch_lane_change_left_module" default="true"/>
  <arg name="launch_external_request_lane_change_right_module" default="true"/>
  <arg name="launch_external_request_lane_change_left_module" default="true"/>
  <arg name="launch_goal_planner_module" default="true"/>
  <arg name="launch_start_planner_module" default="true"/>
  <arg name="launch_sampling_planner_module" default="true"/>
  <arg name="launch_side_shift_module" default="true"/>

  <arg name="launch_crosswalk_module" default="true"/>
  <arg name="launch_walkway_module" default="true"/>
  <arg name="launch_traffic_light_module" default="true"/>
  <arg name="launch_intersection_module" default="true"/>
  <arg name="launch_merge_from_private_module" default="true"/>
  <arg name="launch_blind_spot_module" default="true"/>
  <arg name="launch_detection_area_module" default="true"/>
  <arg name="launch_virtual_traffic_light_module" default="true"/>
  <arg name="launch_no_stopping_area_module" default="true"/>
  <arg name="launch_stop_line_module" default="true"/>
  <arg name="launch_occlusion_spot_module" default="true"/>
  <arg name="launch_run_out_module" default="true"/>
  <arg name="launch_speed_bump_module" default="true"/>
  <arg name="launch_out_of_lane_module" default="true"/>
  <arg name="launch_no_drivable_lane_module" default="true"/>
  <arg name="launch_dynamic_obstacle_stop_module" default="true"/>

  <arg name="launch_module_list_end" default="&quot;&quot;]"/>

  <!-- assemble launch config for behavior path planner -->
  <arg name="behavior_path_planner_launch_modules" default="["/>
  <let
    name="behavior_path_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::AvoidanceModuleManager, '&quot;)"
    if="$(var launch_avoidance_module)"
  />
  <let
    name="behavior_path_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::DynamicAvoidanceModuleManager, '&quot;)"
    if="$(var launch_dynamic_avoidance_module)"
  />
  <let
    name="behavior_path_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::SideShiftModuleManager, '&quot;)"
    if="$(var launch_side_shift_module)"
  />
  <let
    name="behavior_path_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::StartPlannerModuleManager, '&quot;)"
    if="$(var launch_start_planner_module)"
  />
  <let
    name="behavior_path_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::SamplingPlannerModuleManager, '&quot;)"
    if="$(var launch_sampling_planner_module)"
  />
  <let
    name="behavior_path_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::GoalPlannerModuleManager, '&quot;)"
    if="$(var launch_goal_planner_module)"
  />
  <let
    name="behavior_path_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::LaneChangeRightModuleManager, '&quot;)"
    if="$(var launch_lane_change_right_module)"
  />
  <let
    name="behavior_path_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::LaneChangeLeftModuleManager, '&quot;)"
    if="$(var launch_lane_change_left_module)"
  />
  <let
    name="behavior_path_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::ExternalRequestLaneChangeRightModuleManager, '&quot;)"
    if="$(var launch_external_request_lane_change_right_module)"
  />
  <let
    name="behavior_path_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager, '&quot;)"
    if="$(var launch_external_request_lane_change_left_module)"
  />
  <let
    name="behavior_path_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::AvoidanceByLaneChangeModuleManager, '&quot;)"
    if="$(var launch_avoidance_by_lane_change_module)"
  />
  <let name="behavior_path_planner_launch_modules" value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>

  <!-- assemble launch config for behavior velocity planner -->
  <arg name="behavior_velocity_planner_launch_modules" default="["/>
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::CrosswalkModulePlugin, '&quot;)"
    if="$(var launch_crosswalk_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::WalkwayModulePlugin, '&quot;)"
    if="$(var launch_walkway_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::TrafficLightModulePlugin, '&quot;)"
    if="$(var launch_traffic_light_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::IntersectionModulePlugin, '&quot;)"
    if="$(var launch_intersection_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::MergeFromPrivateModulePlugin, '&quot;)"
    if="$(var launch_merge_from_private_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::BlindSpotModulePlugin, '&quot;)"
    if="$(var launch_blind_spot_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::DetectionAreaModulePlugin, '&quot;)"
    if="$(var launch_detection_area_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::VirtualTrafficLightModulePlugin, '&quot;)"
    if="$(var launch_virtual_traffic_light_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::NoStoppingAreaModulePlugin, '&quot;)"
    if="$(var launch_no_stopping_area_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::StopLineModulePlugin, '&quot;)"
    if="$(var launch_stop_line_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::OcclusionSpotModulePlugin, '&quot;)"
    if="$(var launch_occlusion_spot_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::RunOutModulePlugin, '&quot;)"
    if="$(var launch_run_out_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::SpeedBumpModulePlugin, '&quot;)"
    if="$(var launch_speed_bump_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::OutOfLaneModulePlugin, '&quot;)"
    if="$(var launch_out_of_lane_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::NoDrivableLaneModulePlugin, '&quot;)"
    if="$(var launch_no_drivable_lane_module)"
  />
  <let
    name="behavior_velocity_planner_launch_modules"
    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::DynamicObstacleStopModulePlugin, '&quot;)"
    if="$(var launch_dynamic_obstacle_stop_module)"
  />
  <let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>

  <node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args="" output="both">
    <composable_node pkg="behavior_path_planner" plugin="behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">
      <!-- topic remap -->
      <remap from="~/input/route" to="$(var input_route_topic_name)"/>
      <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
      <remap from="~/input/perception" to="/perception/object_recognition/objects"/>
      <remap from="~/input/occupancy_grid_map" to="/perception/occupancy_grid_map/map"/>
      <remap from="~/input/costmap" to="/planning/scenario_planning/parking/costmap_generator/occupancy_grid"/>
      <remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
      <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 from="$(var common_param_path)"/>
      <param from="$(var vehicle_param_file)"/>
      <param from="$(var nearest_search_param_path)"/>
      <param name="launch_modules" value="$(var behavior_path_planner_launch_modules)"/>
      <param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
      <param name="is_simulation" value="$(var is_simulation)"/>
      <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_sampling_planner_module_param_path)"/>
      <param from="$(var behavior_path_planner_drivable_area_expansion_param_path)"/>
      <param from="$(var behavior_path_planner_scene_module_manager_param_path)"/>
      <param from="$(var behavior_path_planner_common_param_path)"/>
      <!-- composable node config -->
      <extra_arg name="use_intra_process_comms" value="false"/>
    </composable_node>

    <composable_node pkg="behavior_velocity_planner" plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
      <!-- topic remap -->
      <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
      <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
      <remap from="~/input/vehicle_odometry" to="/localization/kinematic_state"/>
      <remap from="~/input/accel" to="/localization/acceleration"/>
      <remap from="~/input/dynamic_objects" to="/perception/object_recognition/objects"/>
      <remap from="~/input/no_ground_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
      <remap from="~/input/compare_map_filtered_pointcloud" to="compare_map_filtered/pointcloud"/>
      <remap from="~/input/vector_map_inside_area_filtered_pointcloud" to="vector_map_inside_area_filtered/pointcloud"/>
      <remap from="~/input/external_velocity_limit_mps" to="/planning/scenario_planning/max_velocity_default"/>
      <remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
      <remap from="~/input/virtual_traffic_light_states" to="$(var input_virtual_traffic_light_topic_name)"/>
      <remap from="~/input/occupancy_grid" to="/perception/occupancy_grid_map/map"/>
      <remap from="~/output/path" to="path"/>
      <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
      <remap from="~/output/infrastructure_commands" to="/planning/scenario_planning/status/infrastructure_commands"/>
      <remap from="~/output/traffic_signal" to="debug/traffic_signal"/>
      <!-- params -->
      <param from="$(var common_param_path)"/>
      <param from="$(var vehicle_param_file)"/>
      <param from="$(var nearest_search_param_path)"/>
      <param from="$(var motion_velocity_smoother_param_path)"/>
      <param from="$(var behavior_velocity_smoother_type_param_path)"/>
      <param from="$(var behavior_velocity_planner_common_param_path)"/>
      <param name="launch_modules" value="$(var behavior_velocity_planner_launch_modules)"/>
      <param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
      <param name="is_simulation" value="$(var is_simulation)"/>
      <!-- <param from="$(var template_param_path)"/> -->
      <param from="$(var behavior_velocity_planner_blind_spot_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_crosswalk_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_walkway_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_detection_area_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_intersection_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_stop_line_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_traffic_light_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_virtual_traffic_light_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_occlusion_spot_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_no_stopping_area_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_run_out_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_speed_bump_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_out_of_lane_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/>
      <param from="$(var behavior_velocity_planner_dynamic_obstacle_stop_module_param_path)"/>
      <!-- composable node config -->
      <extra_arg name="use_intra_process_comms" value="false"/>
    </composable_node>

    <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
  </node_container>

  <group if="$(var launch_compare_map_pipeline)">
    <!-- use pointcloud container -->
    <load_composable_node target="$(var pointcloud_container_name)">
      <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
        <!-- topic remap -->
        <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
        <remap from="kinematic_state" to="/localization/kinematic_state"/>
        <remap from="map_loader_service" to="/map/get_differential_pointcloud_map"/>
        <remap from="input" to="/perception/obstacle_segmentation/pointcloud"/>
        <remap from="output" to="compare_map_filtered/pointcloud"/>
        <!-- params -->
        <param from="$(var compare_map_filter_param_path)"/>
        <extra_arg name="use_intra_process_comms" value="false"/>
      </composable_node>

      <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent" name="vector_map_inside_area_filter_node" namespace="">
        <!-- topic remap -->
        <remap from="input/vector_map" to="$(var input_vector_map_topic_name)"/>
        <remap from="input" to="compare_map_filtered/pointcloud"/>
        <remap from="output" to="vector_map_inside_area_filtered/pointcloud"/>
        <param name="polygon_type" value="no_obstacle_segmentation_area_for_run_out"/>
        <extra_arg name="use_intra_process_comms" value="false"/>
      </composable_node>
    </load_composable_node>
  </group>
</launch>