Remove enablePlannerDynamicSwitch

ros/src/computing/planning/mission/packages/lane_planner/launch/lane_select.launch

@@ -2,5 +2,4 @@
 <launch>
 
 <node pkg="lane_planner" type="lane_select" name="lane_select" output="log"></node>
-
 </launch>

ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_select/lane_select_core.cpp

@@ -59,7 +59,6 @@ void LaneSelectNode::initForROS()
 
   pub1_ = nh_.advertise<autoware_msgs::Lane>("base_waypoints", 1);
   pub2_ = nh_.advertise<std_msgs::Int32>("closest_waypoint", 1);
-
   pub3_ = nh_.advertise<std_msgs::Int32>("change_flag", 1);
   pub4_ = nh_.advertise<std_msgs::Int32>("/current_lane_id", 1);
   pub5_ = nh_.advertise<autoware_msgs::VehicleLocation>("vehicle_location", 1);

ros/src/computing/planning/motion/packages/dp_planner/include/dp_planner_core.h

@@ -139,8 +139,6 @@ class PlannerX
 
   	std::vector<std::string>    m_LogData;
 
-	bool  enablePlannerDynamicSwitch;
-
 protected:
 	//ROS messages (topics)
 

ros/src/computing/planning/motion/packages/dp_planner/launch/dp_planner.launch

@@ -88,8 +88,6 @@
 		<param name="mapSource" 					value="$(arg mapSource)" />
 		<param name="mapFileName" 					value="$(arg mapFileName)" />
 
-		<param name="enablePlannerDynamicSwitch"		value="$(arg enablePlannerDynamicSwitch)"/>
-
 	</node>
 
 </launch>

ros/src/computing/planning/motion/packages/dp_planner/nodes/dp_planner_core.cpp

@@ -71,9 +71,6 @@ PlannerX::PlannerX()
 	m_ObstacleTracking.m_dt = 0.12;
 	m_ObstacleTracking.m_bUseCenterOnly = true;
 
-	enablePlannerDynamicSwitch = false;
-
-
 	int iSource = 0;
 	nh.getParam("/dp_planner/mapSource", iSource);
 	if(iSource == 0)
@@ -95,12 +92,6 @@ PlannerX::PlannerX()
 
 
 	std::string topic_prefix;
-	nh.getParam("/dp_planner/enablePlannerDynamicSwitch", enablePlannerDynamicSwitch);
-	if(enablePlannerDynamicSwitch){
-		topic_prefix = "/dp";
-		pub_LocalTrajectoriesRviz_dynamic = nh.advertise<visualization_msgs::MarkerArray>("local_trajectories_dynamic", 1);
-		pub_EnableLattice = nh.advertise<std_msgs::Int32>("enableLattice", 1);
-	}
 
 	pub_LocalPath = nh.advertise<autoware_msgs::Lane>(topic_prefix + "/final_waypoints", 100,true);
 	pub_LocalBasePath = nh.advertise<autoware_msgs::Lane>(topic_prefix + "/base_waypoints", 100,true);
@@ -774,34 +765,6 @@ void PlannerX::PlannerMainLoop()
 		ROSHelpers::ConvertFromPlannerHToAutowareVisualizePathFormat(m_LocalPlanner.m_Path, m_LocalPlanner.m_RollOuts, m_LocalPlanner, all_rollOuts);
 		pub_LocalTrajectoriesRviz.publish(all_rollOuts);
 
-		//Publish markers that visualize only when avoiding objects
-		if(enablePlannerDynamicSwitch){
-			visualization_msgs::MarkerArray all_rollOuts_dynamic;
-			std_msgs::Int32 enableLattice;
-			if(iDirection != 0) { // if obstacle avoidance state,
-				all_rollOuts_dynamic = all_rollOuts;
-
-			     	for(auto &ro : all_rollOuts_dynamic.markers){
-					ro.ns = "global_lane_array_marker_dynamic";
-				}
-				pub_LocalTrajectoriesRviz_dynamic.publish(all_rollOuts_dynamic);
-				enableLattice.data = 1;
-			}else{
-				visualization_msgs::Marker delMarker;
-#ifndef ROS_KINETIC
-				delMarker.action = visualization_msgs::Marker::DELETE;
-#else
-				delMarker.action = visualization_msgs::Marker::DELETEALL;
-#endif
-				delMarker.ns = "global_lane_array_marker_dynamic";
-				all_rollOuts_dynamic.markers.push_back(delMarker);
-				pub_LocalTrajectoriesRviz_dynamic.publish(all_rollOuts_dynamic);
-				enableLattice.data = 0;
-			}
-			pub_EnableLattice.publish(enableLattice); //Publish flag of object avoidance
-		}
-
-
 		if(m_CurrentBehavior.bNewPlan)
 		{
 			std::ostringstream str_out;

ros/src/computing/planning/motion/packages/waypoint_planner/launch/velocity_set.launch

@@ -6,7 +6,6 @@
   <arg name="decelerate_vel_min" default="1.3" />
   <arg name="remove_points_upto" default="2.3" />
   <arg name="enable_multiple_crosswalk_detection" default="true" />
-  <arg name="enablePlannerDynamicSwitch" default="false" />
 
   <node pkg="waypoint_planner" type="velocity_set" name="velocity_set" output="screen">
     <param name="use_crosswalk_detection" value="$(arg use_crosswalk_detection)" />
@@ -15,7 +14,6 @@
     <param name="velocity_offset" value="$(arg velocity_offset)" />
     <param name="decelerate_vel_min" value="$(arg decelerate_vel_min)" />
     <param name="remove_points_upto" value="$(arg remove_points_upto)" />
-    <param name="enablePlannerDynamicSwitch" value="$(arg enablePlannerDynamicSwitch)" />
   </node>
 
 </launch>

ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp

@@ -529,12 +529,10 @@ int main(int argc, char** argv)
 
   bool use_crosswalk_detection;
   bool enable_multiple_crosswalk_detection;
-  bool enablePlannerDynamicSwitch;
 
   std::string points_topic;
   private_nh.param<bool>("use_crosswalk_detection", use_crosswalk_detection, true);
   private_nh.param<bool>("enable_multiple_crosswalk_detection", enable_multiple_crosswalk_detection, true);
-  private_nh.param<bool>("enablePlannerDynamicSwitch", enablePlannerDynamicSwitch, false);
 
 
   private_nh.param<std::string>("points_topic", points_topic, "points_lanes");
@@ -570,11 +568,7 @@ int main(int argc, char** argv)
   ros::Publisher obstacle_waypoint_pub = nh.advertise<std_msgs::Int32>("obstacle_waypoint", 1, true);
 
   ros::Publisher final_waypoints_pub;
-  if(enablePlannerDynamicSwitch){
-	  final_waypoints_pub = nh.advertise<autoware_msgs::Lane>("astar/final_waypoints", 1, true);
-  }else{
-	  final_waypoints_pub = nh.advertise<autoware_msgs::Lane>("final_waypoints", 1, true);
-  }
+	final_waypoints_pub = nh.advertise<autoware_msgs::Lane>("final_waypoints", 1, true);
 
   ros::Rate loop_rate(LOOP_RATE);
   while (ros::ok())

ros/src/util/packages/autoware_launcher/plugins/refs/lane_select.yaml

@@ -1,8 +1,6 @@
 format: Autoware Launcher Plugin Version 0.1
 rosxml: $(find lane_planner)/launch/lane_select.launch
-args:
-- {name: enablePlannerDynamicSwitch, type: bool, default: false}
+args: []
 panel:
   widget: node.panel
-  frames:
-  - {target: args.enablePlannerDynamicSwitch, widget: basic.bool}
+  frames: []

ros/src/util/packages/autoware_launcher/plugins/refs/velocity_set.yaml

@@ -7,7 +7,6 @@ args:
 - {name: decelerate_vel_min, type: real, default: 1.3}
 - {name: remove_points_upto, type: real, default: 2.3}
 - {name: enable_multiple_crosswalk_detection, type: bool, default: true}
-- {name: enablePlannerDynamicSwitch, type: bool, default: false}
 
 panel:
   widget: node.panel
@@ -18,4 +17,3 @@ panel:
   - {target: args.decelerate_vel_min, widget: basic.real}
   - {target: args.remove_points_upto, widget: basic.real}
   - {target: args.enable_multiple_crosswalk_detection, widget: basic.bool}
-  - {target: args.enablePlannerDynamicSwitch, widget: basic.bool}

ros/src/util/packages/autoware_launcher/profiles/quickstart/root/mission/lane_select.yaml

@@ -1,4 +1,3 @@
 children: []
-config:
-  args.enablePlannerDynamicSwitch: false
+config: {}
 plugin: refs/lane_select

ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/velocity_set.yaml

@@ -1,7 +1,6 @@
 children: []
 config:
   args.decelerate_vel_min: 1.3
-  args.enablePlannerDynamicSwitch: false
   args.enable_multiple_crosswalk_detection: true
   args.points_topic: points_no_ground
   args.remove_points_upto: 2.3