fix(tier4_planning_launch): add group tag (tier4#1239)

* fix(tier4_planning_launch): add group tag Signed-off-by: Xinyu Wang <xinyu.wang@tier4.jp> * move arg Signed-off-by: Xinyu Wang <xinyu.wang@tier4.jp> * move arg inside group Signed-off-by: Xinyu Wang <xinyu.wang@tier4.jp>
boyali · Oct 19, 2022 · d86e0f7 · d86e0f7
1 parent f042327
commit d86e0f7
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Showing 5 changed files with 93 additions and 70 deletions.
diff --git a/launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml b/launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml
@@ -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>
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml
@@ -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 -->

diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -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>
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml
@@ -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>
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -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>