refactor(tier4_planning_launch): organize parameters

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Jul 11, 2022 · 5c49090 · 5c49090
1 parent 9375358
commit 5c49090
Show file tree

Hide file tree

Showing 9 changed files with 34 additions and 13 deletions.
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    planning_hz: 10.0
+
     backward_path_length: 5.0
     forward_path_length: 300.0
     backward_length_buffer_for_end_of_lane: 5.0

diff --git a/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    enable_slow_down: False
+
     stop_planner:
       stop_margin: 5.0 # stop margin distance from obstacle on the path [m]
       min_behavior_stop_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m]

diff --git a/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml
@@ -6,6 +6,10 @@
   <!-- pointcloud container -->
   <arg name="use_pointcloud_container" default="false"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="bt_tree_config_file" default="$(find-pkg-share behavior_path_planner)/config/behavior_path_planner_tree.xml"/>
+  <arg name="use_surround_obstacle_check" default="true"/>
+  <arg name="cruise_planner" default="obstacle_stop_planner" description="cruise planner type. options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
+  <arg name="smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
 
   <group>
     <push-ros-namespace namespace="planning"/>
@@ -22,6 +26,10 @@
         <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="bt_tree_config_file" value="$(var bt_tree_config_file)"/>
+        <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
+        <arg name="cruise_planner" value="$(var cruise_planner)"/>
+        <arg name="smoother_type" value="$(var smoother_type)"/>
       </include>
     </group>
 

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
@@ -6,6 +6,9 @@
   <!-- pointcloud container -->
   <arg name="use_pointcloud_container"/>
   <arg name="pointcloud_container_name"/>
+  <arg name="bt_tree_config_file"/>
+  <arg name="use_surround_obstacle_check"/>
+  <arg name="cruise_planner"/>
 
   <!-- lane_driving scenario -->
   <group>
@@ -18,6 +21,7 @@
         <arg name="use_multithread" value="true"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="bt_tree_config_file" value="$(var bt_tree_config_file)"/>
       </include>
 
       <arg
@@ -35,6 +39,8 @@
       <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py">
         <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
         <arg name="use_multithread" value="true"/>
+        <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
+        <arg name="cruise_planner" value="$(var cruise_planner)"/>
       </include>
     </group>
   </group>

diff --git a/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -41,6 +41,8 @@ def launch_setup(context, *args, **kwargs):
         vehicle_info_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     # behavior path planner
+    bt_tree_config_path = LaunchConfiguration("bt_tree_config_file").perform(context)
+
     side_shift_param_path = os.path.join(
         get_package_share_directory("tier4_planning_launch"),
         "config",
@@ -180,13 +182,7 @@ def launch_setup(context, *args, **kwargs):
             pull_out_param,
             behavior_path_planner_param,
             vehicle_info_param,
-            {
-                "bt_tree_config_path": [
-                    FindPackageShare("behavior_path_planner"),
-                    "/config/behavior_path_planner_tree.xml",
-                ],
-                "planning_hz": 10.0,
-            },
+            {"bt_tree_config_path": bt_tree_config_path},
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )

diff --git a/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -73,8 +73,6 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             obstacle_avoidance_planner_param,
             vehicle_info_param,
-            {"is_showing_debug_info": False},
-            {"is_stopping_if_outside_drivable_area": True},
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
@@ -168,7 +166,6 @@ def launch_setup(context, *args, **kwargs):
             obstacle_stop_planner_param,
             obstacle_stop_planner_acc_param,
             vehicle_info_param,
-            {"enable_slow_down": False},
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
@@ -291,9 +288,9 @@ def add_launch_arg(name: str, default_value=None, description=None):
     )
 
     # surround obstacle checker
-    add_launch_arg("use_surround_obstacle_check", "true", "launch surround_obstacle_checker or not")
+    add_launch_arg("use_surround_obstacle_check", None, "launch surround_obstacle_checker or not")
     add_launch_arg(
-        "cruise_planner", "obstacle_stop_planner", "cruise planner type"
+        "cruise_planner", None, "cruise planner type"
     )  # select from "obstacle_stop_planner", "obstacle_cruise_planner", "none"
 
     add_launch_arg("use_intra_process", "false", "use ROS2 component container communication")

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -6,6 +6,10 @@
   <!-- pointcloud container -->
   <arg name="use_pointcloud_container"/>
   <arg name="pointcloud_container_name"/>
+  <arg name="bt_tree_config_file"/>
+  <arg name="use_surround_obstacle_check"/>
+  <arg name="cruise_planner"/>
+  <arg name="smoother_type"/>
 
   <!-- scenario selector -->
   <include file="$(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml">
@@ -28,7 +32,6 @@
       <arg name="param_path" value="$(var param_path)"/>
     </include>
     <!-- motion velocity smoother -->
-    <arg name="smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
     <set_remap from="~/input/trajectory" to="/planning/scenario_planning/scenario_selector/trajectory"/>
     <set_remap from="~/output/trajectory" to="/planning/scenario_planning/trajectory"/>
     <include file="$(find-pkg-share motion_velocity_smoother)/launch/motion_velocity_smoother.launch.xml">
@@ -47,6 +50,9 @@
       <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="bt_tree_config_file" value="$(var bt_tree_config_file)"/>
+      <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
+      <arg name="cruise_planner" value="$(var cruise_planner)"/>
     </include>
     <!-- parking -->
     <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/parking.launch.py">

diff --git a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml
@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    planning_hz: 10.0
+
     backward_path_length: 5.0
     forward_path_length: 200.0
     backward_length_buffer_for_end_of_lane: 5.0

diff --git a/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml b/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml
@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    enable_slow_down: False
+
     stop_planner:
       stop_margin: 5.0 # stop margin distance from obstacle on the path [m]
       min_behavior_stop_margin: 2.0 # stop margin distance when any other stop point is inserted in stop margin [m]