fix(autoware_launch): minor change with tier4_control_component (#186)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

autoware_launch/launch/autoware.launch.xml

@@ -26,8 +26,6 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
-  <!-- Control -->
-  <arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
   <!-- System -->
   <arg name="system_run_mode" default="online" description="run mode in system"/>
   <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
@@ -118,14 +116,7 @@
 
   <!-- Control -->
   <group if="$(var launch_control)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml">
-      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-      <arg name="vehicle_id" value="$(var vehicle_id)"/>
-      <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
-      <arg name="lateral_controller_mode" value="mpc"/>
-      <arg name="longitudinal_controller_mode" value="pid"/>
-      <arg name="use_individual_control_param" value="false"/>
-    </include>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml"/>
   </group>
 
   <!-- API -->

autoware_launch/launch/components/tier4_control_component.launch.xml

@@ -1,22 +1,18 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="vehicle_param_file"/>
-  <arg name="vehicle_id"/>
-  <arg name="enable_obstacle_collision_checker"/>
-  <arg name="lateral_controller_mode"/>
-  <arg name="longitudinal_controller_mode"/>
-  <arg name="use_individual_control_param"/>
+  <!-- optional parameters are written here -->
+  <arg name="lateral_controller_mode" default="mpc"/>
+  <arg name="longitudinal_controller_mode" default="pid"/>
+  <arg name="use_individual_control_param" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
 
   <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
-    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
-
     <!-- option -->
-    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="vehicle_id" value="$(var vehicle_id)"/>
-    <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
+    <arg name="enable_obstacle_collision_checker" value="false"/>
     <arg name="trajectory_follower_node_param_path" value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/trajectory_follower_node.param.yaml"/>
     <arg
       name="lat_controller_param_path"

autoware_launch/launch/e2e_simulator.launch.xml

@@ -19,7 +19,6 @@
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- Control -->
-  <arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>
   <!-- System -->
@@ -49,8 +48,6 @@
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
-      <!-- Control -->
-      <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <!-- Sensing -->

autoware_launch/launch/logging_simulator.launch.xml

@@ -24,8 +24,6 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
-  <!-- Control -->
-  <arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <!-- Tools -->
@@ -62,8 +60,6 @@
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
-      <!-- Control -->
-      <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
     </include>

autoware_launch/launch/planning_simulator.launch.xml

@@ -9,8 +9,6 @@
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
-  <!-- Control -->
-  <arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <!-- Tools -->
@@ -49,8 +47,6 @@
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
-      <!-- Control -->
-      <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>