Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(tier4_planning_launch): add group tag #1239

Merged
merged 5 commits into from
Jul 13, 2022
Merged

fix(tier4_planning_launch): add group tag #1239

Show file tree
Hide file tree
Changes from 4 commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
cb3a03a
fix(tier4_planning_launch): add group tag
Jul 5, 2022
aebb9b7
move arg
Jul 12, 2022
a053a9d
Merge branch 'main' into fix_planning_launch
angry-crab Jul 12, 2022
2dbe02b
move arg inside group
Jul 12, 2022
896f678
Merge branch 'main' into fix_planning_launch
angry-crab Jul 13, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 6 additions & 2 deletions launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,9 @@
<launch>
<include file="$(find-pkg-share mission_planner)/launch/mission_planner.launch.xml"/>
<group>
<include file="$(find-pkg-share mission_planner)/launch/mission_planner.launch.xml"/>
</group>

<include file="$(find-pkg-share mission_planner)/launch/goal_pose_visualizer.launch.xml"/>
<group>
<include file="$(find-pkg-share mission_planner)/launch/goal_pose_visualizer.launch.xml"/>
</group>
</launch>
31 changes: 17 additions & 14 deletions launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,20 +13,23 @@
<!-- behavior planning module -->
<group>
<push-ros-namespace namespace="behavior_planning"/>
<include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py">
<arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
<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)"/>
</include>

<arg
name="rtc_auto_approver_param_path"
default="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml"
/>
<include file="$(find-pkg-share rtc_auto_approver)/launch/rtc_auto_approver.launch.xml">
<arg name="param_path" value="$(var rtc_auto_approver_param_path)"/>
</include>
<group>
<include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py">
<arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>
<group>
<arg
name="rtc_auto_approver_param_path"
default="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml"
/>
<include file="$(find-pkg-share rtc_auto_approver)/launch/rtc_auto_approver.launch.xml">
<arg name="param_path" value="$(var rtc_auto_approver_param_path)"/>
</include>
</group>
</group>

<!-- motion planning module -->
Expand Down
8 changes: 5 additions & 3 deletions ...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,9 @@
<param name="bt_tree_config_path" value="$(find-pkg-share behavior_path_planner)/config/behavior_path_planner_tree.xml"/>
</node>

<include file="$(find-pkg-share behavior_velocity_planner)/launch/behavior_velocity_planner.launch.xml">
<arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
</include>
<group>
<include file="$(find-pkg-share behavior_velocity_planner)/launch/behavior_velocity_planner.launch.xml">
<arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
</include>
</group>
</launch>
42 changes: 23 additions & 19 deletions launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,25 +4,29 @@
<!-- parking scenario -->
<group>
<push-ros-namespace namespace="parking"/>
<include file="$(find-pkg-share costmap_generator)/launch/costmap_generator.launch.xml">
<arg name="input_objects" value="/perception/object_recognition/objects"/>
<arg name="input_points_no_ground" value="/perception/obstacle_segmentation/pointcloud"/>
<arg name="input_lanelet_map" value="/map/vector_map"/>
<arg name="input_scenario" value="/planning/scenario_planning/scenario"/>
<arg name="output_grid_map" value="costmap_generator/grid_map"/>
<arg name="output_occupancy_grid" value="costmap_generator/occupancy_grid"/>
<arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
</include>
<group>
<include file="$(find-pkg-share costmap_generator)/launch/costmap_generator.launch.xml">
<arg name="input_objects" value="/perception/object_recognition/objects"/>
<arg name="input_points_no_ground" value="/perception/obstacle_segmentation/pointcloud"/>
<arg name="input_lanelet_map" value="/map/vector_map"/>
<arg name="input_scenario" value="/planning/scenario_planning/scenario"/>
<arg name="output_grid_map" value="costmap_generator/grid_map"/>
<arg name="output_occupancy_grid" value="costmap_generator/occupancy_grid"/>
<arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
</include>
</group>

<include file="$(find-pkg-share freespace_planner)/launch/freespace_planner.launch.xml">
<arg name="input_route" value="/planning/mission_planning/route"/>
<arg name="input_occupancy_grid" value="costmap_generator/occupancy_grid"/>
<arg name="input_scenario" value="/planning/scenario_planning/scenario"/>
<arg name="input_odometry" value="/localization/kinematic_state"/>
<arg name="output_trajectory" value="/planning/scenario_planning/parking/trajectory"/>
<arg name="is_completed" value="/planning/scenario_planning/parking/is_completed"/>
<arg name="param_file" value="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>
<arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
</include>
<group>
<include file="$(find-pkg-share freespace_planner)/launch/freespace_planner.launch.xml">
<arg name="input_route" value="/planning/mission_planning/route"/>
<arg name="input_occupancy_grid" value="costmap_generator/occupancy_grid"/>
<arg name="input_scenario" value="/planning/scenario_planning/scenario"/>
<arg name="input_odometry" value="/localization/kinematic_state"/>
<arg name="output_trajectory" value="/planning/scenario_planning/parking/trajectory"/>
<arg name="is_completed" value="/planning/scenario_planning/parking/is_completed"/>
<arg name="param_file" value="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>
<arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
</include>
</group>
</group>
</launch>
74 changes: 42 additions & 32 deletions launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,49 +8,59 @@
<arg name="pointcloud_container_name"/>

<!-- scenario selector -->
<include file="$(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml">
<arg name="input_lane_driving_trajectory" value="/planning/scenario_planning/lane_driving/trajectory"/>
<arg name="input_parking_trajectory" value="/planning/scenario_planning/parking/trajectory"/>
<arg name="input_lanelet_map" value="/map/vector_map"/>
<arg name="input_route" value="/planning/mission_planning/route"/>
<arg name="input_odometry" value="/localization/kinematic_state"/>
<arg name="output_scenario" value="/planning/scenario_planning/scenario"/>
<arg name="output_trajectory" value="/planning/scenario_planning/scenario_selector/trajectory"/>
<arg name="is_parking_completed" value="/planning/scenario_planning/parking/is_completed"/>
</include>
<group>
<include file="$(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml">
<arg name="input_lane_driving_trajectory" value="/planning/scenario_planning/lane_driving/trajectory"/>
<arg name="input_parking_trajectory" value="/planning/scenario_planning/parking/trajectory"/>
<arg name="input_lanelet_map" value="/map/vector_map"/>
<arg name="input_route" value="/planning/mission_planning/route"/>
<arg name="input_odometry" value="/localization/kinematic_state"/>
<arg name="output_scenario" value="/planning/scenario_planning/scenario"/>
<arg name="output_trajectory" value="/planning/scenario_planning/scenario_selector/trajectory"/>
<arg name="is_parking_completed" value="/planning/scenario_planning/parking/is_completed"/>
</include>
</group>

<!-- velocity planning with max velocity, acceleration, jerk, stop point constraint -->
<group>
<arg name="param_path" default="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
<!-- external velocity limit selector -->
<include file="$(find-pkg-share external_velocity_limit_selector)/launch/external_velocity_limit_selector.launch.xml">
<arg name="common_param_path" value="$(var common_param_path)"/>
<arg name="param_path" value="$(var param_path)"/>
</include>
<group>
<include file="$(find-pkg-share external_velocity_limit_selector)/launch/external_velocity_limit_selector.launch.xml">
<arg name="common_param_path" value="$(var common_param_path)"/>
<arg name="param_path" value="$(var param_path)"/>
</include>
</group>
<!-- motion velocity smoother -->
<arg name="smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
<set_remap from="~/input/trajectory" to="/planning/scenario_planning/scenario_selector/trajectory"/>
<set_remap from="~/output/trajectory" to="/planning/scenario_planning/trajectory"/>
<include file="$(find-pkg-share motion_velocity_smoother)/launch/motion_velocity_smoother.launch.xml">
<arg name="smoother_type" value="$(var smoother_type)"/>
<arg name="common_param_path" value="$(var common_param_path)"/>
<arg name="param_path" value="$(var param_path)"/>
<arg name="smoother_param_path" value="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/common/motion_velocity_smoother/$(var smoother_type).param.yaml"/>
</include>
<group>
<arg name="smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
<set_remap from="~/input/trajectory" to="/planning/scenario_planning/scenario_selector/trajectory"/>
<set_remap from="~/output/trajectory" to="/planning/scenario_planning/trajectory"/>
<include file="$(find-pkg-share motion_velocity_smoother)/launch/motion_velocity_smoother.launch.xml">
<arg name="smoother_type" value="$(var smoother_type)"/>
<arg name="common_param_path" value="$(var common_param_path)"/>
<arg name="param_path" value="$(var param_path)"/>
<arg name="smoother_param_path" value="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/common/motion_velocity_smoother/$(var smoother_type).param.yaml"/>
</include>
</group>
</group>

<!-- scenarios-->
<group>
<!-- lane driving -->
<include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving.launch.xml">
<arg name="common_param_path" value="$(var common_param_path)"/>
<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="$(var pointcloud_container_name)"/>
</include>
<group>
<include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving.launch.xml">
<arg name="common_param_path" value="$(var common_param_path)"/>
<arg name="vehicle_info_param_file" value="$(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)"/>
</include>
</group>
<!-- parking -->
<include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/parking.launch.py">
<arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
</include>
<group>
<include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/parking.launch.py">
<arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
</include>
</group>
</group>
</launch>