From 5b5026e135bde4d91019f8a033eca86cb3ce5140 Mon Sep 17 00:00:00 2001
From: Takamasa Horibe <horibe.takamasa@gmail.com>
Date: Fri, 25 Aug 2023 09:52:14 +0900
Subject: [PATCH 1/2] use node instead of include

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
---
 .../scenario_planning.launch.xml              | 25 ++++++++++++-------
 1 file changed, 16 insertions(+), 9 deletions(-)

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
index 665bd82423ea6..02a551ee40092 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -24,15 +24,22 @@
     </group>
     <!-- motion velocity smoother -->
     <group>
-      <set_remap from="~/input/trajectory" to="/planning/scenario_planning/scenario_selector/trajectory"/>
-      <set_remap from="~/output/trajectory" to="/planning/scenario_planning/motion_velocity_smoother/trajectory"/>
-      <include file="$(find-pkg-share motion_velocity_smoother)/launch/motion_velocity_smoother.launch.xml">
-        <arg name="velocity_smoother_type" value="$(var velocity_smoother_type)"/>
-        <arg name="common_param_path" value="$(var common_param_path)"/>
-        <arg name="nearest_search_param_path" value="$(var nearest_search_param_path)"/>
-        <arg name="param_path" value="$(var motion_velocity_smoother_param_path)"/>
-        <arg name="velocity_smoother_param_path" value="$(var velocity_smoother_type_param_path)"/>
-      </include>
+      <node pkg="motion_velocity_smoother" exec="motion_velocity_smoother" name="motion_velocity_smoother" output="screen">
+        <param name="algorithm_type" value="$(var velocity_smoother_type)"/>
+        <param from="$(var common_param_path)"/>
+        <param from="$(var nearest_search_param_path)"/>
+        <param from="$(var motion_velocity_smoother_param_path)"/>
+        <param from="$(var velocity_smoother_type_param_path)"/>
+
+        <param name="publish_debug_trajs" value="false"/>
+        <remap from="~/input/trajectory" to="/planning/scenario_planning/scenario_selector/trajectory"/>
+        <remap from="~/output/trajectory" to="/planning/scenario_planning/motion_velocity_smoother/trajectory"/>
+
+        <remap from="~/input/external_velocity_limit_mps" to="/planning/scenario_planning/max_velocity"/>
+        <remap from="~/input/acceleration" to="/localization/acceleration"/>
+        <remap from="~/input/operation_mode_state" to="/system/operation_mode/state"/>
+        <remap from="~/output/current_velocity_limit_mps" to="/planning/scenario_planning/current_max_velocity"/>
+      </node>
     </group>
   </group>
 

From 8f0a6c559575a46fa185d98943250ab49c3b56f3 Mon Sep 17 00:00:00 2001
From: Takamasa Horibe <horibe.takamasa@gmail.com>
Date: Fri, 25 Aug 2023 10:06:15 +0900
Subject: [PATCH 2/2] use container & add glog component

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
---
 .../scenario_planning.launch.xml              | 31 ++++++++++---------
 1 file changed, 17 insertions(+), 14 deletions(-)

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
index 02a551ee40092..b293c5836817d 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -24,22 +24,25 @@
     </group>
     <!-- motion velocity smoother -->
     <group>
-      <node pkg="motion_velocity_smoother" exec="motion_velocity_smoother" name="motion_velocity_smoother" output="screen">
-        <param name="algorithm_type" value="$(var velocity_smoother_type)"/>
-        <param from="$(var common_param_path)"/>
-        <param from="$(var nearest_search_param_path)"/>
-        <param from="$(var motion_velocity_smoother_param_path)"/>
-        <param from="$(var velocity_smoother_type_param_path)"/>
+      <node_container pkg="rclcpp_components" exec="component_container" name="motion_velocity_smoother_container" namespace="">
+        <composable_node pkg="motion_velocity_smoother" plugin="motion_velocity_smoother::MotionVelocitySmootherNode" name="motion_velocity_smoother" namespace="">
+          <param name="algorithm_type" value="$(var velocity_smoother_type)"/>
+          <param from="$(var common_param_path)"/>
+          <param from="$(var nearest_search_param_path)"/>
+          <param from="$(var motion_velocity_smoother_param_path)"/>
+          <param from="$(var velocity_smoother_type_param_path)"/>
 
-        <param name="publish_debug_trajs" value="false"/>
-        <remap from="~/input/trajectory" to="/planning/scenario_planning/scenario_selector/trajectory"/>
-        <remap from="~/output/trajectory" to="/planning/scenario_planning/motion_velocity_smoother/trajectory"/>
+          <param name="publish_debug_trajs" value="false"/>
+          <remap from="~/input/trajectory" to="/planning/scenario_planning/scenario_selector/trajectory"/>
+          <remap from="~/output/trajectory" to="/planning/scenario_planning/motion_velocity_smoother/trajectory"/>
 
-        <remap from="~/input/external_velocity_limit_mps" to="/planning/scenario_planning/max_velocity"/>
-        <remap from="~/input/acceleration" to="/localization/acceleration"/>
-        <remap from="~/input/operation_mode_state" to="/system/operation_mode/state"/>
-        <remap from="~/output/current_velocity_limit_mps" to="/planning/scenario_planning/current_max_velocity"/>
-      </node>
+          <remap from="~/input/external_velocity_limit_mps" to="/planning/scenario_planning/max_velocity"/>
+          <remap from="~/input/acceleration" to="/localization/acceleration"/>
+          <remap from="~/input/operation_mode_state" to="/system/operation_mode/state"/>
+          <remap from="~/output/current_velocity_limit_mps" to="/planning/scenario_planning/current_max_velocity"/>
+        </composable_node>
+        <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
+      </node_container>
     </group>
   </group>