chore: replace topic tools (#986)

* chore: replace topic tools

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

launch/tier4_autoware_api_launch/launch/include/internal_api_relay.launch.xml

@@ -1,26 +1,23 @@
 <launch>
   <group>
     <push-ros-namespace namespace="internal"/>
-    <node pkg="topic_tools" exec="relay" name="traffic_signals">
-      <param name="input_topic" value="/api/autoware/set/traffic_signals"/>
-      <param name="output_topic" value="/external/traffic_light_recognition/traffic_signals"/>
-      <param name="type" value="autoware_auto_perception_msgs/msg/TrafficSignalArray"/>
-    </node>
-    <node pkg="topic_tools" exec="relay" name="intersection_states">
-      <param name="input_topic" value="/api/autoware/set/intersection_states"/>
-      <param name="output_topic" value="/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_intersection_states"/>
-      <param name="type" value="tier4_api_msgs/msg/IntersectionStatus"/>
-    </node>
-    <node pkg="topic_tools" exec="relay" name="crosswalk_states">
-      <param name="input_topic" value="/api/autoware/set/crosswalk_states"/>
-      <param name="output_topic" value="/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_crosswalk_states"/>
-      <param name="type" value="tier4_api_msgs/msg/CrosswalkStatus"/>
-    </node>
+    <node pkg="topic_tools" exec="relay" name="traffic_signals" args="/api/autoware/set/traffic_signals /external/traffic_light_recognition/traffic_signals"/>
+
+    <node
+      pkg="topic_tools"
+      exec="relay"
+      name="intersection_states"
+      args="/api/autoware/set/intersection_state /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_intersection_states"
+    />
+
+    <node
+      pkg="topic_tools"
+      exec="relay"
+      name="crosswalk_states"
+      args="/api/autoware/set/crosswalk_states /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_crosswalk_states"
+    />
+
     <!-- TODO(Takagi, Isamu): workaround for topic check -->
-    <node pkg="topic_tools" exec="relay" name="initial_pose_2d">
-      <param name="input_topic" value="/initialpose"/>
-      <param name="output_topic" value="/initialpose2d"/>
-      <param name="type" value="geometry_msgs/msg/PoseWithCovarianceStamped"/>
-    </node>
+    <node pkg="topic_tools" exec="relay" name="initial_pose_2d" args="/initialpose /initialpose2d"/>
   </group>
 </launch>

planning/scenario_selector/launch/dummy_scenario_selector_lane_driving.launch.xml

@@ -9,11 +9,7 @@
   <arg name="input_odometry" default=""/>
   <arg name="is_parking_completed" default=""/>
 
-  <node pkg="topic_tools" exec="relay" name="scenario_trajectory_relay" output="log">
-    <param name="input_topic" value="$(var input_lane_driving_trajectory)"/>
-    <param name="output_topic" value="$(var output_trajectory)"/>
-    <param name="type" value="tier4_planning_msgs/msg/Trajectory"/>
-  </node>
+  <node pkg="topic_tools" exec="relay" name="scenario_trajectory_relay" output="log" args="$(var input_lane_driving_trajectory) $(var output_trajectory)"/>
 
   <arg name="cmd" default="ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}'"/>
   <executable cmd="$(var cmd)" name="scenario_pub" output="screen" shell="true"/>

planning/scenario_selector/launch/dummy_scenario_selector_parking.launch.xml

@@ -9,11 +9,7 @@
   <arg name="input_odometry" default=""/>
   <arg name="is_parking_completed" default=""/>
 
-  <node pkg="topic_tools" exec="relay" name="scenario_trajectory_relay" output="log">
-    <param name="input_topic" value="$(var input_parking_trajectory)"/>
-    <param name="output_topic" value="$(var output_trajectory)"/>
-    <param name="type" value="tier4_planning_msgs/msg/Trajectory"/>
-  </node>
+  <node pkg="topic_tools" exec="relay" name="scenario_trajectory_relay" output="log" args="$(var input_parking_trajectory) $(var output_trajectory)"/>
 
   <arg name="cmd" default="ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: Parking, activating_scenarios: [Parking]}'"/>
   <executable cmd="$(var cmd)" name="scenario_pub" output="screen" shell="true"/>