feat(tier4_planning_launch): declare param path argument (#1337)

* feat(tier4_planning_launch): declare param path argument Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * Update launch/tier4_planning_launch/launch/planning.launch.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update launch/tier4_planning_launch/launch/planning.launch.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
autowarefoundation · Jul 25, 2022 · 34a74ab · 34a74ab
1 parent 5e09191
commit 34a74ab
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Showing 6 changed files with 44 additions and 62 deletions.
diff --git a/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml
@@ -3,6 +3,9 @@
 
   <arg name="vehicle_info_param_file"/>
 
+  <!-- parameter path -->
+  <arg name="tier4_planning_launch_param_path" default="$(find-pkg-share tier4_planning_launch)/config" description="tier4_planning_launch parameter path"/>
+
   <!-- pointcloud container -->
   <arg name="use_pointcloud_container" default="false"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
@@ -22,6 +25,7 @@
         <arg name="vehicle_info_param_file" value="$(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)"/>
+        <arg name="tier4_planning_launch_param_path" value="$(var tier4_planning_launch_param_path)"/>
       </include>
     </group>
 

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
@@ -1,5 +1,6 @@
 <launch>
   <!-- common param -->
+  <arg name="tier4_planning_launch_param_path"/>
   <arg name="common_param_path"/>
   <arg name="vehicle_info_param_file"/>
 
@@ -17,6 +18,7 @@
         <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="tier4_planning_launch_param_path" value="$(var tier4_planning_launch_param_path)"/>
           <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
           <arg name="container_name" value="$(var pointcloud_container_name)"/>
         </include>
@@ -37,6 +39,7 @@
       <push-ros-namespace namespace="motion_planning"/>
       <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py">
         <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
+        <arg name="tier4_planning_launch_param_path" value="$(var tier4_planning_launch_param_path)"/>
         <arg name="use_multithread" value="true"/>
       </include>
     </group>

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
@@ -14,7 +14,6 @@
 
 import os
 
-from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import GroupAction
@@ -41,8 +40,7 @@ def launch_setup(context, *args, **kwargs):
 
     # behavior path planner
     side_shift_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -54,8 +52,7 @@ def launch_setup(context, *args, **kwargs):
         side_shift_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     avoidance_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -67,8 +64,7 @@ def launch_setup(context, *args, **kwargs):
         avoidance_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     lane_change_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -80,8 +76,7 @@ def launch_setup(context, *args, **kwargs):
         lane_change_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     lane_following_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -93,8 +88,7 @@ def launch_setup(context, *args, **kwargs):
         lane_following_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     pull_over_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -106,8 +100,7 @@ def launch_setup(context, *args, **kwargs):
         pull_over_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     pull_out_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -119,8 +112,7 @@ def launch_setup(context, *args, **kwargs):
         pull_out_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     behavior_path_planner_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -167,8 +159,7 @@ def launch_setup(context, *args, **kwargs):
 
     # smoother param
     common_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "common",
         "common.param.yaml",
@@ -177,8 +168,7 @@ def launch_setup(context, *args, **kwargs):
         common_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     motion_velocity_smoother_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "common",
         "motion_velocity_smoother",
@@ -188,8 +178,7 @@ def launch_setup(context, *args, **kwargs):
         motion_velocity_smoother_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     smoother_type_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "common",
         "motion_velocity_smoother",
@@ -200,8 +189,7 @@ def launch_setup(context, *args, **kwargs):
 
     # behavior velocity planner
     blind_spot_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -212,8 +200,7 @@ def launch_setup(context, *args, **kwargs):
         blind_spot_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     crosswalk_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -224,8 +211,7 @@ def launch_setup(context, *args, **kwargs):
         crosswalk_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     detection_area_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -236,8 +222,7 @@ def launch_setup(context, *args, **kwargs):
         detection_area_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     intersection_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -248,8 +233,7 @@ def launch_setup(context, *args, **kwargs):
         intersection_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     stop_line_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -260,8 +244,7 @@ def launch_setup(context, *args, **kwargs):
         stop_line_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     traffic_light_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -272,8 +255,7 @@ def launch_setup(context, *args, **kwargs):
         traffic_light_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     virtual_traffic_light_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -284,8 +266,7 @@ def launch_setup(context, *args, **kwargs):
         virtual_traffic_light_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     occlusion_spot_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -296,8 +277,7 @@ def launch_setup(context, *args, **kwargs):
         occlusion_spot_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     no_stopping_area_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -308,8 +288,7 @@ def launch_setup(context, *args, **kwargs):
         no_stopping_area_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     run_out_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -320,8 +299,7 @@ def launch_setup(context, *args, **kwargs):
         run_out_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     behavior_velocity_planner_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "behavior_planning",
@@ -467,6 +445,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
     )
     add_launch_arg("map_topic_name", "/map/vector_map", "input topic of map")
 
+    add_launch_arg("tier4_planning_launch_param_path", None, "tier4_planning_launch parameter path")
+
     # component
     add_launch_arg("use_intra_process", "false", "use ROS2 component container communication")
     add_launch_arg("use_multithread", "false", "use multithread")

diff --git a/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -14,7 +14,6 @@
 
 import os
 
-from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import GroupAction
@@ -39,8 +38,7 @@ def launch_setup(context, *args, **kwargs):
 
     # planning common param path
     common_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "common",
         "common.param.yaml",
@@ -50,8 +48,7 @@ def launch_setup(context, *args, **kwargs):
 
     # obstacle avoidance planner
     obstacle_avoidance_planner_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "motion_planning",
@@ -81,8 +78,7 @@ def launch_setup(context, *args, **kwargs):
 
     # surround obstacle checker
     surround_obstacle_checker_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "motion_planning",
@@ -120,17 +116,15 @@ def launch_setup(context, *args, **kwargs):
 
     # obstacle stop planner
     obstacle_stop_planner_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "motion_planning",
         "obstacle_stop_planner",
         "obstacle_stop_planner.param.yaml",
     )
     obstacle_stop_planner_acc_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "motion_planning",
@@ -175,8 +169,7 @@ def launch_setup(context, *args, **kwargs):
 
     # obstacle cruise planner
     obstacle_cruise_planner_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "lane_driving",
         "motion_planning",
@@ -296,6 +289,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "cruise_planner", "obstacle_stop_planner", "cruise planner type"
     )  # select from "obstacle_stop_planner", "obstacle_cruise_planner", "none"
 
+    add_launch_arg("tier4_planning_launch_param_path", None, "tier4_planning_launch parameter path")
+
     add_launch_arg("use_intra_process", "false", "use ROS2 component container communication")
     add_launch_arg("use_multithread", "false", "use multithread")
 

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.py
@@ -14,7 +14,6 @@
 
 import os
 
-from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import GroupAction
@@ -37,8 +36,7 @@ def launch_setup(context, *args, **kwargs):
         vehicle_info_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     freespace_planner_param_path = os.path.join(
-        get_package_share_directory("tier4_planning_launch"),
-        "config",
+        LaunchConfiguration("tier4_planning_launch_param_path").perform(context),
         "scenario_planning",
         "parking",
         "freespace_planner",

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
@@ -1,6 +1,7 @@
 <launch>
   <!-- common param -->
-  <arg name="common_param_path" default="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/common/common.param.yaml"/>
+  <arg name="tier4_planning_launch_param_path"/>
+  <arg name="common_param_path" default="$(var tier4_planning_launch_param_path)/scenario_planning/common/common.param.yaml"/>
   <arg name="vehicle_info_param_file"/>
 
   <!-- pointcloud container -->
@@ -23,7 +24,7 @@
 
   <!-- velocity planning with max velocity, acceleration, jerk, stop point constraint -->
   <group>
-    <arg name="param_path" default="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
+    <arg name="param_path" default="$(var tier4_planning_launch_param_path)/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
     <!-- external velocity limit selector -->
     <group>
       <include file="$(find-pkg-share external_velocity_limit_selector)/launch/external_velocity_limit_selector.launch.xml">
@@ -40,7 +41,7 @@
         <arg name="smoother_type" value="$(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"/>
+        <arg name="smoother_param_path" value="$(var tier4_planning_launch_param_path)/scenario_planning/common/motion_velocity_smoother/$(var smoother_type).param.yaml"/>
       </include>
     </group>
   </group>
@@ -54,6 +55,7 @@
         <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="$(var pointcloud_container_name)"/>
+        <arg name="tier4_planning_launch_param_path" value="$(var tier4_planning_launch_param_path)"/>
       </include>
     </group>
     <!-- parking -->