fix(behavior, launch): fix launch error

[satoshi-ota]

Description

🤖[deprecated] Generated by Copilot at 0274073

This pull request fixes a parameter handling issue in the behavior path planner and the behavior velocity planner nodes. It adds a condition to check if the module name is ”” and skips loading it, to prevent errors with ROS 2.

FIx following error:

[component_container_mt-10] [ERROR] [1702012466.731917489] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Component constructor threw an exception: parameter 'launch_modules' has invalid type: Wrong parameter type, parameter {launch_modules} is of type {string_array}, setting it to {byte_array} is not allowed.

Tests performed

Psim (disable all scene modules)

Effects on system behavior

Nothing.

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[codecov]

Codecov Report

Attention: 2 lines in your changes are missing coverage. Please review.

Comparison is base (dd3050a) 15.31% compared to head (9aef450) 15.31%.
Report is 2 commits behind head on main.

Files	Patch %	Lines
...or_path_planner/src/behavior_path_planner_node.cpp	0.00%	0 Missing and 1 partial ⚠️
planning/behavior_velocity_planner/src/node.cpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5847      +/-   ##
==========================================
- Coverage   15.31%   15.31%   -0.01%     
==========================================
  Files        1740     1740              
  Lines      119879   119882       +3     
  Branches    36450    36453       +3     
==========================================
  Hits        18355    18355              
  Misses      80992    80992              
- Partials    20532    20535       +3     

Flag	Coverage Δ		*Carryforward flag
differential	9.52% <0.00%> (?)
total	15.31% <ø> (ø)		Carriedforward from 478e454

*This pull request uses carry forward flags. Click here to find out more.

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[soblin]

How about using "" (empty) string instead ?

[h-ohta]

I confirmed with following steps.

1. added debug code

   • add <log message="behavior_velocity_planner_launch_modules: $(var behavior_velocity_planner_launch_modules)"/> to https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml#L178
   • add <log message="behavior_path_planner_launch_modules: $(var behavior_path_planner_launch_modules)"/> to https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml#L99

2. set all behavor modules to false https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/preset/default_preset.yaml#L2-L82

3. launched planning simulator and confirm debug print

hrkota@npc2103034:~/dev/autoware$ ros2 launch autoware_launch planning_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit map_path:=$HOME/map/psim_virtualmap/ pointcloud_map_file:=pointcloud_map.pcd rviz:=true
[INFO] [launch]: All log files can be found below /home/hrkota/.ros/log/2023-12-13-15-36-04-258740-npc2103034-354700
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: behavior_path_planner_launch_modules: [""]
[INFO] [launch.user]: behavior_velocity_planner_launch_modules: [""]
...

5. confrimed following error is not showed.
   [component_container_mt-10] [ERROR] [1702012466.731917489] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Component constructor threw an exception: parameter 'launch_modules' has invalid type: Wrong parameter type, parameter {launch_modules} is of type {string_array}, setting it to {byte_array} is not allowed.