From 863fb369f911d8d11bbf8c3c67194e57b827089c Mon Sep 17 00:00:00 2001
From: Maxime CLEMENT <maxime.clement@tier4.jp>
Date: Thu, 22 Feb 2024 15:48:18 +0900
Subject: [PATCH] Revert "[TMP] run with gdb"

This reverts commit e70b5cda04371904a19d2649ac219285d8d7873f.
---
 .../behavior_planning.launch.xml              | 92 ++++++++++---------
 1 file changed, 47 insertions(+), 45 deletions(-)

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 3db6ab894fe9a..90ebd23215be5 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
@@ -218,54 +218,56 @@
       <extra_arg name="use_intra_process_comms" value="false"/>
     </composable_node>
 
+    <composable_node pkg="behavior_velocity_planner" plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
+      <!-- topic remap -->
+      <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
+      <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
+      <remap from="~/input/vehicle_odometry" to="/localization/kinematic_state"/>
+      <remap from="~/input/accel" to="/localization/acceleration"/>
+      <remap from="~/input/dynamic_objects" to="/perception/object_recognition/objects"/>
+      <remap from="~/input/no_ground_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
+      <remap from="~/input/compare_map_filtered_pointcloud" to="compare_map_filtered/pointcloud"/>
+      <remap from="~/input/vector_map_inside_area_filtered_pointcloud" to="vector_map_inside_area_filtered/pointcloud"/>
+      <remap from="~/input/external_velocity_limit_mps" to="/planning/scenario_planning/max_velocity_default"/>
+      <remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
+      <remap from="~/input/virtual_traffic_light_states" to="$(var input_virtual_traffic_light_topic_name)"/>
+      <remap from="~/input/occupancy_grid" to="/perception/occupancy_grid_map/map"/>
+      <remap from="~/output/path" to="path"/>
+      <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
+      <remap from="~/output/infrastructure_commands" to="/planning/scenario_planning/status/infrastructure_commands"/>
+      <remap from="~/output/traffic_signal" to="debug/traffic_signal"/>
+      <!-- params -->
+      <param from="$(var common_param_path)"/>
+      <param from="$(var vehicle_param_file)"/>
+      <param from="$(var nearest_search_param_path)"/>
+      <param from="$(var motion_velocity_smoother_param_path)"/>
+      <param from="$(var behavior_velocity_smoother_type_param_path)"/>
+      <param from="$(var behavior_velocity_planner_common_param_path)"/>
+      <param name="launch_modules" value="$(var behavior_velocity_planner_launch_modules)"/>
+      <param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+      <!-- <param from="$(var template_param_path)"/> -->
+      <param from="$(var behavior_velocity_planner_blind_spot_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_crosswalk_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_walkway_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_detection_area_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_intersection_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_stop_line_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_traffic_light_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_virtual_traffic_light_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_occlusion_spot_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_no_stopping_area_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_run_out_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_speed_bump_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_out_of_lane_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/>
+      <param from="$(var behavior_velocity_planner_dynamic_obstacle_stop_module_param_path)"/>
+      <!-- composable node config -->
+      <extra_arg name="use_intra_process_comms" value="false"/>
+    </composable_node>
+
     <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
   </node_container>
 
-  <node pkg="behavior_velocity_planner" exec="behavior_velocity_planner_node" name="behavior_velocity_planner" namespace="" launch-prefix="konsole -e gdb -ex run --args">
-    <!-- topic remap -->
-    <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
-    <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
-    <remap from="~/input/vehicle_odometry" to="/localization/kinematic_state"/>
-    <remap from="~/input/accel" to="/localization/acceleration"/>
-    <remap from="~/input/dynamic_objects" to="/perception/object_recognition/objects"/>
-    <remap from="~/input/no_ground_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
-    <remap from="~/input/compare_map_filtered_pointcloud" to="compare_map_filtered/pointcloud"/>
-    <remap from="~/input/vector_map_inside_area_filtered_pointcloud" to="vector_map_inside_area_filtered/pointcloud"/>
-    <remap from="~/input/external_velocity_limit_mps" to="/planning/scenario_planning/max_velocity_default"/>
-    <remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
-    <remap from="~/input/virtual_traffic_light_states" to="$(var input_virtual_traffic_light_topic_name)"/>
-    <remap from="~/input/occupancy_grid" to="/perception/occupancy_grid_map/map"/>
-    <remap from="~/output/path" to="path"/>
-    <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
-    <remap from="~/output/infrastructure_commands" to="/planning/scenario_planning/status/infrastructure_commands"/>
-    <remap from="~/output/traffic_signal" to="debug/traffic_signal"/>
-    <!-- params -->
-    <param from="$(var common_param_path)"/>
-    <param from="$(var vehicle_param_file)"/>
-    <param from="$(var nearest_search_param_path)"/>
-    <param from="$(var motion_velocity_smoother_param_path)"/>
-    <param from="$(var behavior_velocity_smoother_type_param_path)"/>
-    <param from="$(var behavior_velocity_planner_common_param_path)"/>
-    <param name="launch_modules" value="$(var behavior_velocity_planner_launch_modules)"/>
-    <param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
-    <!-- <param from="$(var template_param_path)"/> -->
-    <param from="$(var behavior_velocity_planner_blind_spot_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_crosswalk_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_walkway_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_detection_area_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_intersection_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_stop_line_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_traffic_light_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_virtual_traffic_light_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_occlusion_spot_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_no_stopping_area_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_run_out_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_speed_bump_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_out_of_lane_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_dynamic_obstacle_stop_module_param_path)"/>
-  </node>
-
   <group if="$(var launch_compare_map_pipeline)">
     <!-- use pointcloud container -->
     <load_composable_node target="$(var pointcloud_container_name)">