From f48667399970223b74b9e2558260d2aa96627efa Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Date: Mon, 29 May 2023 13:25:11 +0900
Subject: [PATCH 1/2] feat(behavior_path_planner): relax margin_from_boundary
 in goal_planner param (#371)

---
 .../behavior_path_planner/goal_planner/goal_planner.param.yaml  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index 3c5846edf3..eaa103bff7 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -18,7 +18,7 @@
         max_lateral_offset: 0.5
         lateral_offset_interval: 0.25
         ignore_distance_from_lane_start: 15.0
-        margin_from_boundary: 0.5
+        margin_from_boundary: 0.75
 
       # occupancy grid map
       occupancy_grid:

From 30b422a14c4a7249fb197fdc6630480ed69b63cc Mon Sep 17 00:00:00 2001
From: Takamasa Horibe <horibe.takamasa@gmail.com>
Date: Mon, 29 May 2023 16:08:05 +0900
Subject: [PATCH 2/2] refactor(autoware_launch): remove duplicated path in
 planning launch (#365)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
---
 .../tier4_planning_component.launch.xml       | 146 ++++++------------
 1 file changed, 45 insertions(+), 101 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 6db13f5259..2afb669018 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -8,6 +8,13 @@
   <arg name="use_surround_obstacle_check" default="true"/>
   <arg name="smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
 
+  <!-- variables -->
+  <arg name="behavior_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning"/>
+  <arg name="behavior_path_config_path" default="$(var behavior_config_path)/behavior_path_planner"/>
+  <arg name="behavior_velocity_config_path" default="$(var behavior_config_path)/behavior_velocity_planner"/>
+  <arg name="motion_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
+  <arg name="common_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
+
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
@@ -15,128 +22,65 @@
     <arg name="smoother_type" value="$(var smoother_type)"/>
 
     <!-- common -->
-    <arg name="common_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/common.param.yaml"/>
-    <arg name="nearest_search_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/nearest_search.param.yaml"/>
+    <arg name="common_param_path" value="$(var common_config_path)/common.param.yaml"/>
+    <arg name="nearest_search_param_path" value="$(var common_config_path)/nearest_search.param.yaml"/>
 
     <!-- rtc -->
-    <arg
-      name="rtc_auto_mode_manager_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml"
-    />
+    <arg name="rtc_auto_mode_manager_param_path" value="$(var behavior_config_path)/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml"/>
 
     <!-- mission planner -->
     <arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>
 
     <!-- behavior path planner -->
-    <arg
-      name="side_shift_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml"
-    />
-    <arg name="avoidance_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml"/>
-    <arg
-      name="avoidance_by_lc_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml"
-    />
-    <arg
-      name="dynamic_avoidance_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml"
-    />
-    <arg
-      name="lane_change_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml"
-    />
-    <arg
-      name="goal_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml"
-    />
-    <arg name="pull_out_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml"/>
-    <arg
-      name="drivable_area_expansion_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml"
-    />
-    <arg
-      name="scene_module_manager_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml"
-    />
-    <arg
-      name="behavior_path_planner_tree_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml"
-    />
-    <arg
-      name="behavior_path_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml"
-    />
+    <arg name="side_shift_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
+    <arg name="avoidance_param_path" value="$(var behavior_path_config_path)/avoidance/avoidance.param.yaml"/>
+    <arg name="avoidance_by_lc_param_path" value="$(var behavior_path_config_path)/avoidance_by_lc/avoidance_by_lc.param.yaml"/>
+    <arg name="dynamic_avoidance_param_path" value="$(var behavior_path_config_path)/dynamic_avoidance/dynamic_avoidance.param.yaml"/>
+    <arg name="lane_change_param_path" value="$(var behavior_path_config_path)/lane_change/lane_change.param.yaml"/>
+    <arg name="goal_planner_param_path" value="$(var behavior_path_config_path)/goal_planner/goal_planner.param.yaml"/>
+    <arg name="pull_out_param_path" value="$(var behavior_path_config_path)/pull_out/pull_out.param.yaml"/>
+    <arg name="drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
+    <arg name="scene_module_manager_param_path" value="$(var behavior_path_config_path)/scene_module_manager.param.yaml"/>
+    <arg name="behavior_path_planner_tree_param_path" value="$(var behavior_path_config_path)/behavior_path_planner_tree.xml"/>
+    <arg name="behavior_path_planner_param_path" value="$(var behavior_path_config_path)/behavior_path_planner.param.yaml"/>
 
     <!-- behavior velocity planner -->
-    <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
-    <arg name="blind_spot_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml"/>
-    <arg name="crosswalk_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml"/>
-    <arg
-      name="detection_area_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml"
-    />
-    <arg name="intersection_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml"/>
-    <arg name="stop_line_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml"/>
-    <arg name="traffic_light_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml"/>
-    <arg
-      name="virtual_traffic_light_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml"
-    />
-    <arg
-      name="occlusion_spot_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml"
-    />
-    <arg
-      name="no_stopping_area_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml"
-    />
-    <arg name="run_out_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml"/>
-    <arg name="speed_bump_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml"/>
-    <arg name="out_of_lane_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml"/>
-    <arg
-      name="behavior_velocity_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml"
-    />
+    <arg name="behavior_velocity_smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/Analytical.param.yaml"/>
+    <arg name="blind_spot_param_path" value="$(var behavior_velocity_config_path)/blind_spot.param.yaml"/>
+    <arg name="crosswalk_param_path" value="$(var behavior_velocity_config_path)/crosswalk.param.yaml"/>
+    <arg name="detection_area_param_path" value="$(var behavior_velocity_config_path)/detection_area.param.yaml"/>
+    <arg name="intersection_param_path" value="$(var behavior_velocity_config_path)/intersection.param.yaml"/>
+    <arg name="stop_line_param_path" value="$(var behavior_velocity_config_path)/stop_line.param.yaml"/>
+    <arg name="traffic_light_param_path" value="$(var behavior_velocity_config_path)/traffic_light.param.yaml"/>
+    <arg name="virtual_traffic_light_param_path" value="$(var behavior_velocity_config_path)/virtual_traffic_light.param.yaml"/>
+    <arg name="occlusion_spot_param_path" value="$(var behavior_velocity_config_path)/occlusion_spot.param.yaml"/>
+    <arg name="no_stopping_area_param_path" value="$(var behavior_velocity_config_path)/no_stopping_area.param.yaml"/>
+    <arg name="run_out_param_path" value="$(var behavior_velocity_config_path)/run_out.param.yaml"/>
+    <arg name="speed_bump_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
+    <arg name="out_of_lane_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
+    <arg name="behavior_velocity_planner_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
 
     <!-- parking -->
     <arg name="freespace_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>
 
     <!-- motion -->
-    <arg
-      name="obstacle_avoidance_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"
-    />
-    <arg name="path_sampler_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml"/>
-    <arg
-      name="obstacle_velocity_limiter_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml"
-    />
-    <arg
-      name="surround_obstacle_checker_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml"
-    />
-    <arg
-      name="obstacle_stop_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml"
-    />
-    <arg
-      name="obstacle_stop_planner_acc_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml"
-    />
-    <arg
-      name="obstacle_cruise_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"
-    />
+    <arg name="obstacle_avoidance_planner_param_path" value="$(var motion_config_path)/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"/>
+    <arg name="path_sampler_param_path" value="$(var motion_config_path)/path_sampler/path_sampler.param.yaml"/>
+    <arg name="obstacle_velocity_limiter_param_path" value="$(var motion_config_path)/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml"/>
+    <arg name="surround_obstacle_checker_param_path" value="$(var motion_config_path)/surround_obstacle_checker/surround_obstacle_checker.param.yaml"/>
+    <arg name="obstacle_stop_planner_param_path" value="$(var motion_config_path)/obstacle_stop_planner/obstacle_stop_planner.param.yaml"/>
+    <arg name="obstacle_stop_planner_acc_param_path" value="$(var motion_config_path)/obstacle_stop_planner/adaptive_cruise_control.param.yaml"/>
+    <arg name="obstacle_cruise_planner_param_path" value="$(var motion_config_path)/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"/>
     <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
     <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
     <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
     <arg name="smoother_type" value="$(var smoother_type)"/>
 
     <!-- motion velocity smoother -->
-    <arg name="motion_velocity_smoother_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
-    <arg name="smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/$(var smoother_type).param.yaml"/>
+    <arg name="motion_velocity_smoother_param_path" value="$(var common_config_path)/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
+    <arg name="smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/$(var smoother_type).param.yaml"/>
 
     <!-- planning validator -->
-    <arg name="planning_validator_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml"/>
+    <arg name="planning_validator_param_path" value="$(var common_config_path)/planning_validator/planning_validator.param.yaml"/>
   </include>
 </launch>