feat(planning_launch): launch rtc_auto_approver (#343)

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
tier4 · Jun 7, 2022 · 208743a · 208743a
1 parent 158fd77
commit 208743a
Show file tree

Hide file tree

Showing 2 changed files with 33 additions and 0 deletions.
diff --git a/...io_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml b/...io_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml
@@ -0,0 +1,29 @@
+/**:
+  ros__parameters:
+    module_list:
+      - "behavior_velocity_planner/blind_spot"
+      - "behavior_velocity_planner/crosswalk"
+      - "behavior_velocity_planner/detection_area"
+      - "behavior_velocity_planner/intersection"
+      - "behavior_velocity_planner/no_stopping_area"
+      - "behavior_velocity_planner/traffic_light"
+      - "behavior_path_planner/lane_change_left"
+      - "behavior_path_planner/lane_change_right"
+      - "behavior_path_planner/avoidance_left"
+      - "behavior_path_planner/avoidance_right"
+      - "behavior_path_planner/pull_over"
+      - "behavior_path_planner/pull_out"
+
+    default_enable_list:
+      - "behavior_velocity_planner/blind_spot"
+      - "behavior_velocity_planner/crosswalk"
+      - "behavior_velocity_planner/detection_area"
+      - "behavior_velocity_planner/intersection"
+      - "behavior_velocity_planner/no_stopping_area"
+      - "behavior_velocity_planner/traffic_light"
+      - "behavior_path_planner/lane_change_left"
+      - "behavior_path_planner/lane_change_right"
+      - "behavior_path_planner/avoidance_left"
+      - "behavior_path_planner/avoidance_right"
+      - "behavior_path_planner/pull_over"
+      - "behavior_path_planner/pull_out"
diff --git a/planning_launch/launch/scenario_planning/lane_driving.launch.xml b/planning_launch/launch/scenario_planning/lane_driving.launch.xml
@@ -17,6 +17,10 @@
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
+      <arg name="rtc_auto_approver_param_path" default="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml"/>
+      <include file="$(find-pkg-share rtc_auto_approver)/launch/rtc_auto_approver.launch.xml">
+        <arg name="param_path" value="$(var rtc_auto_approver_param_path)"/>
+      </include>
     </group>
 
     <!-- motion planning module -->