chore(planning_launch): update motion module name

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

autoware_launch/config/planning/preset/default_preset.yaml

@@ -93,8 +93,8 @@ launch:
 
   - arg:
       name: motion_path_planner_type
-      default: obstacle_avoidance_planner
-      # option: obstacle_avoidance_planner
+      default: path_optimizer
+      # option: path_optimizer
       #         path_sampler
       #         none
 
@@ -111,7 +111,7 @@ launch:
       #         none
 
   - arg:
-      name: motion_velocity_smoother_type
+      name: velocity_smoother_type
       default: JerkFiltered
       # option: JerkFiltered
       #         L2

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -43,7 +43,7 @@
 
     <!-- behavior velocity planner -->
     <arg name="behavior_velocity_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"/>
-    <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
+    <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml"/>
     <arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
     <arg name="behavior_velocity_planner_blind_spot_module_param_path" value="$(var behavior_velocity_config_path)/blind_spot.param.yaml"/>
     <arg name="behavior_velocity_planner_crosswalk_module_param_path" value="$(var behavior_velocity_config_path)/crosswalk.param.yaml"/>
@@ -68,7 +68,7 @@
     <!-- motion -->
     <arg name="motion_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
     <arg name="elastic_band_smoother_param_path" value="$(var motion_config_path)/path_smoother/elastic_band_smoother.param.yaml"/>
-    <arg name="obstacle_avoidance_planner_param_path" value="$(var motion_config_path)/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"/>
+    <arg name="path_optimizer_param_path" value="$(var motion_config_path)/autoware_path_optimizer/path_optimizer.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="$(var motion_config_path)/surround_obstacle_checker/surround_obstacle_checker.param.yaml"/>
@@ -77,11 +77,14 @@
     <arg name="obstacle_cruise_planner_param_path" value="$(var motion_config_path)/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"/>
     <arg name="motion_velocity_planner_param_path" value="$(var motion_config_path)/motion_velocity_planner/motion_velocity_planner.param.yaml"/>
     <arg name="motion_velocity_planner_out_of_lane_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/out_of_lane.param.yaml"/>
-    <arg name="motion_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
+    <arg
+      name="motion_velocity_planner_velocity_smoother_type_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml"
+    />
 
     <!-- motion velocity smoother -->
-    <arg name="motion_velocity_smoother_param_path" value="$(var common_config_path)/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
-    <arg name="velocity_smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/$(var motion_velocity_smoother_type).param.yaml"/>
+    <arg name="velocity_smoother_param_path" value="$(var common_config_path)/autoware_velocity_smoother/velocity_smoother.param.yaml"/>
+    <arg name="velocity_smoother_type_param_path" value="$(var common_config_path)/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml"/>
 
     <!-- planning validator -->
     <arg name="planning_validator_param_path" value="$(var common_config_path)/planning_validator/planning_validator.param.yaml"/>

autoware_launch/rviz/autoware.rviz

@@ -2127,7 +2127,7 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/motion_velocity_smoother/virtual_wall
+                            Value: /planning/scenario_planning/velocity_smoother/virtual_wall
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true