refactor(behavior_path_planner): remove unused config files (#4241)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Jul 11, 2023 · 093f840 · 093f840
1 parent b10e9d2
commit 093f840
Show file tree

Hide file tree

Showing 5 changed files with 0 additions and 80 deletions.
diff --git a/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -114,7 +114,6 @@ def launch_setup(context, *args, **kwargs):
                 "lane_change.use_all_predicted_path": LaunchConfiguration(
                     "use_experimental_lane_change_function"
                 ),
-                "bt_tree_config_path": LaunchConfiguration("behavior_path_planner_tree_param_path"),
             },
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],

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
@@ -20,7 +20,6 @@
     <param from="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml"/>
     <param from="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml"/>
     <param from="$(var vehicle_param_file)"/>
-    <param name="bt_tree_config_path" value="$(find-pkg-share behavior_path_planner)/config/behavior_path_planner_tree.xml"/>
   </node>
 
   <group>

diff --git a/planning/behavior_path_planner/config/behavior_path_planner_tree.xml b/planning/behavior_path_planner/config/behavior_path_planner_tree.xml
diff --git a/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml b/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml
@@ -15,7 +15,6 @@
     <remap from="~/input/scenario" to="/planning/scenario_planning/scenario"/>
 
     <param from="$(find-pkg-share behavior_path_planner)/config/side_shift/side_shift.param.yaml"/>
-    <param name="bt_tree_config_path" value="$(find-pkg-share behavior_path_planner)/config/behavior_path_planner_tree.xml"/>
     <param from="$(var vehicle_info_param_file)"/>
   </node>
 </launch>
diff --git a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
@@ -48,9 +48,6 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
   const auto behavior_path_planner_dir =
     ament_index_cpp::get_package_share_directory("behavior_path_planner");
 
-  node_options.append_parameter_override(
-    "bt_tree_config_path", behavior_path_planner_dir + "/config/behavior_path_planner_tree.xml");
-
   test_utils::updateNodeOptions(
     node_options,
     {planning_test_utils_dir + "/config/test_common.param.yaml",