From 093f84027639ba5f5e46560d9acb3ab8418a3b6d Mon Sep 17 00:00:00 2001
From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date: Tue, 11 Jul 2023 20:55:49 +0900
Subject: [PATCH] refactor(behavior_path_planner): remove unused config files
 (#4241)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 .../behavior_planning.launch.py               |  1 -
 .../behavior_planning.launch.xml              |  1 -
 .../config/behavior_path_planner_tree.xml     | 74 -------------------
 .../launch/behavior_path_planner.launch.xml   |  1 -
 ...t_behavior_path_planner_node_interface.cpp |  3 -
 5 files changed, 80 deletions(-)
 delete mode 100644 planning/behavior_path_planner/config/behavior_path_planner_tree.xml

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
index 6150abdafe7d6..fc1fac04b9415 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
+++ b/launch/tier4_planning_launch/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/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index 35b8da526e98f..4ff862c7852c6 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/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
deleted file mode 100644
index d2b2a6a79bf0c..0000000000000
--- a/planning/behavior_path_planner/config/behavior_path_planner_tree.xml
+++ /dev/null
@@ -1,74 +0,0 @@
-<?xml version="1.0"?>
-<root main_tree_to_execute="BehaviorTree">
-    <!-- ////////// -->
-    <BehaviorTree ID="BehaviorTree">
-        <Fallback>
-            <ReactiveSequence>
-                <Condition ID="GoalPlanner_Request"/>
-                <Action ID="GoalPlanner_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="StartPlanner_Request"/>
-                <Action ID="StartPlanner_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="SideShift_Request"/>
-                <Action ID="SideShift_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <!-- <ReactiveSequence>
-                <Condition ID="ExternalRequestLaneChangeRight_Request"/>
-                <Action ID="ExternalRequestLaneChangeRight_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="ExternalRequestLaneChangeLeft_Request"/>
-                <Action ID="ExternalRequestLaneChangeLeft_Plan" output="{output}"/>
-            </ReactiveSequence> -->
-            <ReactiveSequence>
-                <Condition ID="LaneChange_Request"/>
-                <Action ID="LaneChange_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="Avoidance_Request"/>
-                <Action ID="Avoidance_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <Action ID="LaneFollowing_Plan" output="{output}"/>
-        </Fallback>
-    </BehaviorTree>
-    <!-- ////////// -->
-    <TreeNodesModel>
-        <Action ID="Avoidance_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="Avoidance_Request"/>
-        <Condition ID="ExternalApproval"/>
-        <Action ID="ExternalRequestLaneChangeRight_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="ExternalRequestLaneChangeRight_Request"/>
-        <Action ID="ExternalRequestLaneChangeLeft_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="ExternalRequestLaneChangeLeft_Request"/>
-        <Action ID="LaneChange_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="LaneChange_Request"/>
-        <Action ID="LaneFollowing_Plan">
-            <output_port name="output" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
-        </Action>
-        <Condition ID="LaneFollowing_Request"/>
-        <Action ID="StartPlanner_Plan">
-            <output_port name="output"/>
-        </Action>
-        <Condition ID="StartPlanner_Request"/>
-        <Action ID="GoalPlanner_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="GoalPlanner_Request"/>
-        <Action ID="SideShift_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="SideShift_Request"/>
-    </TreeNodesModel>
-    <!-- ////////// -->
-</root>
diff --git a/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml b/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml
index a7df8ae9bf428..a4d3cab3c1bf0 100644
--- 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
index 885590f92d420..ec2d01e44940a 100644
--- 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",