fix(behavior, launch): fix launch error (autowarefoundation#5847)

* fix(launch): set null to avoid launch error Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior): check null Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore(behavior): add comment Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(launch): set at the end of list Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(launch): fill empty string at the end of module list Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Interplai · May 28, 2024 · 174a6ef · 174a6ef
1 parent d204c18
commit 174a6ef
Show file tree

Hide file tree

Showing 3 changed files with 12 additions and 2 deletions.
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
@@ -43,6 +43,8 @@
   <arg name="launch_out_of_lane_module" default="true"/>
   <arg name="launch_no_drivable_lane_module" default="true"/>
 
+  <arg name="launch_module_list_end" default="&quot;&quot;]"/>
+
   <!-- assemble launch config for behavior path planner -->
   <arg name="behavior_path_planner_launch_modules" default="["/>
   <let
@@ -95,7 +97,7 @@
     value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::AvoidanceByLaneChangeModuleManager, '&quot;)"
     if="$(var launch_avoidance_by_lane_change_module)"
   />
-  <let name="behavior_path_planner_launch_modules" value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + ']'&quot;)"/>
+  <let name="behavior_path_planner_launch_modules" value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>
 
   <!-- assemble launch config for behavior velocity planner -->
   <arg name="behavior_velocity_planner_launch_modules" default="["/>
@@ -174,7 +176,7 @@
     value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::NoDrivableLaneModulePlugin, '&quot;)"
     if="$(var launch_no_drivable_lane_module)"
   />
-  <let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + ']'&quot;)"/>
+  <let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>
 
   <node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args="" output="screen">
     <composable_node pkg="behavior_path_planner" plugin="behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">

diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -135,6 +135,10 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
     planner_manager_ = std::make_shared<PlannerManager>(*this, p.max_iteration_num, p.verbose);
 
     for (const auto & name : declare_parameter<std::vector<std::string>>("launch_modules")) {
+      // workaround: Since ROS 2 can't get empty list, launcher set [''] on the parameter.
+      if (name == "") {
+        break;
+      }
       planner_manager_->launchScenePlugin(*this, name);
     }
 

diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
@@ -147,6 +147,10 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
 
   // Initialize PlannerManager
   for (const auto & name : declare_parameter<std::vector<std::string>>("launch_modules")) {
+    // workaround: Since ROS 2 can't get empty list, launcher set [''] on the parameter.
+    if (name == "") {
+      break;
+    }
     planner_manager_.launchScenePlugin(*this, name);
   }