From 91d8768b17670b7b569cbca647e91a7c90f9df2d Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 26 Jul 2022 00:35:23 +0900
Subject: [PATCH] feat(autoware_launch): add module param path

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 autoware_launch/launch/autoware.launch.xml | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index fec6a8c0f5..c8266cd34e 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -65,6 +65,7 @@
     <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
       <arg name="run_mode" value="$(var system_run_mode)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="tier4_system_launch_param_path" value="$(find-pkg-share autoware_launch)/config/tier4_system_launch)"/>
     </include>
   </group>
 
@@ -85,12 +86,15 @@
       <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="tier4_sensing_launch_param_path" value="$(find-pkg-share autoware_launch)/config/tier4_sensing_launch)"/>
     </include>
   </group>
 
   <!-- Localization -->
   <group if="$(var launch_localization)">
-    <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml"/>
+    <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
+      <arg name="tier4_localization_launch_param_path" value="$(find-pkg-share autoware_launch)/config/tier4_localization_launch)"/>
+    </include>
   </group>
 
   <!-- Perception -->
@@ -100,6 +104,7 @@
       <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="tier4_perception_launch_param_path" value="$(find-pkg-share autoware_launch)/config/tier4_perception_launch)"/>
     </include>
   </group>
 
@@ -109,6 +114,7 @@
       <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="tier4_planning_launch_param_path" value="$(find-pkg-share autoware_launch)/config/tier4_planning_launch)"/>
     </include>
   </group>
 
@@ -117,6 +123,7 @@
     <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
       <arg name="lateral_controller_mode" value="mpc_follower"/>
       <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="tier4_control_launch_param_path" value="$(find-pkg-share autoware_launch)/config/tier4_control_launch)"/>
     </include>
   </group>