diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
index dd8031b0438c6..c14ee08406839 100644
--- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
+++ b/launch/tier4_planning_launch/config/scenario_planning/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/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
index 82a77203343f7..5f4466565473b 100644
--- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
+++ b/launch/tier4_planning_launch/config/scenario_planning/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
index 94dd7d853776d..3c88c09c2cdf5 100644
--- a/launch/tier4_planning_launch/launch/planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/planning.launch.xml
@@ -6,6 +6,10 @@
+
+
+
+
@@ -22,6 +26,10 @@
+
+
+
+
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
index 241c2e948d28c..35ef6e549489a 100644
--- 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 @@
+
+
+
@@ -18,6 +21,7 @@
+
+
+
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
index 8b917ccbc2f3e..1cd3e23562d63 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
+++ b/launch/tier4_planning_launch/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/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
index 0aad10cb6812c..bb6d7c8b609e6 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
+++ b/launch/tier4_planning_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
index 35f178ab03375..b9de5203c719b 100644
--- 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 @@
+
+
+
+
@@ -28,7 +32,6 @@
-
@@ -47,6 +50,9 @@
+
+
+
diff --git a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml
index e809e47b05228..bf905ed5dfdd4 100644
--- 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
index c4be8d7c35789..7e60a2b1264c2 100644
--- 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]