From 7826a05a9840f16aae017acf8efc3d979cfc98cf Mon Sep 17 00:00:00 2001
From: Berkay Karaman <berkay@leodrive.ai>
Date: Wed, 2 Nov 2022 13:06:36 +0300
Subject: [PATCH] feat(autoware_launch): add controller mode options to launch
 file

Signed-off-by: Berkay Karaman <berkay@leodrive.ai>
---
 autoware_launch/launch/autoware.launch.xml           | 5 ++++-
 autoware_launch/launch/e2e_simulator.launch.xml      | 4 ++++
 autoware_launch/launch/logging_simulator.launch.xml  | 4 ++++
 autoware_launch/launch/planning_simulator.launch.xml | 4 ++++
 4 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 20eaebe399..f47f3e02fe 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -28,6 +28,8 @@
   <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"/>
+  <arg name="lateral_controller_mode" default="mpc_follower" description="lateral controller mode: mpc_follower or pure_pursuit"/>
+  <arg name="longitudinal_controller_mode" default="pid" description="longitudinal controller mode: default pid"/>
   <!-- System -->
   <arg name="system_run_mode" default="online" description="run mode in system"/>
   <!-- Tools -->
@@ -119,7 +121,8 @@
   <!-- Control -->
   <group if="$(var launch_control)">
     <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
-      <arg name="lateral_controller_mode" value="mpc_follower"/>
+      <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
+      <arg name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>
       <arg name="vehicle_info_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="$(var enable_obstacle_collision_checker)"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index bf9c813fab..e0d1244f2d 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -20,6 +20,8 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- Control -->
   <arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
+  <arg name="lateral_controller_mode" default="mpc_follower" description="lateral controller mode: mpc_follower or pure_pursuit"/>
+  <arg name="longitudinal_controller_mode" default="pid" description="longitudinal controller mode: default pid"/>
   <!-- Vehicle -->
   <arg name="launch_vehicle_interface" default="false"/>
   <!-- Tools -->
@@ -49,6 +51,8 @@
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- Control -->
       <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
+      <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
+      <arg name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception-->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 5533cd38f9..4f359c675f 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -26,6 +26,8 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- Control -->
   <arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
+  <arg name="lateral_controller_mode" default="mpc_follower" description="lateral controller mode: mpc_follower or pure_pursuit"/>
+  <arg name="longitudinal_controller_mode" default="pid" description="longitudinal controller mode: default pid"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <!-- Scenario simulation -->
@@ -61,6 +63,8 @@
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- Control -->
       <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
+      <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
+      <arg name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
     </include>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 2f4894fd9a..98278fb4ec 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -11,6 +11,8 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- Control -->
   <arg name="enable_obstacle_collision_checker" default="false" description="use obstacle_collision_checker"/>
+  <arg name="lateral_controller_mode" default="mpc_follower" description="lateral controller mode: mpc_follower or pure_pursuit"/>
+  <arg name="longitudinal_controller_mode" default="pid" description="longitudinal controller mode: default pid"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -51,6 +53,8 @@
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- Control -->
       <arg name="enable_obstacle_collision_checker" value="$(var enable_obstacle_collision_checker)"/>
+      <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
+      <arg name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>