From 4e442a14a93034b18827b0397b063316702f0c30 Mon Sep 17 00:00:00 2001
From: xtk8532704 <1041084556@qq.com>
Date: Mon, 18 Nov 2024 11:34:53 +0900
Subject: [PATCH] remove on/off option for shift decider, vehicle cmd gate, and
 operation mode transition manager

---
 .../launch/control.launch.xml                 | 167 ++++++++----------
 1 file changed, 74 insertions(+), 93 deletions(-)

diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml
index f27b527ebb85c..e910982991bb0 100644
--- a/launch/tier4_control_launch/launch/control.launch.xml
+++ b/launch/tier4_control_launch/launch/control.launch.xml
@@ -1,15 +1,11 @@
 <launch>
-
+  <!-- controler -->
   <arg name="trajectory_follower_mode" default="trajectory_follower_node"/>
   <arg name="lateral_controller_mode"/>
   <arg name="longitudinal_controller_mode"/>
   <arg name="check_external_emergency_heartbeat"/>
-  <arg name="use_aeb_autoware_state_check"/>
 
-  <!-- control-related modules, turn off only when debugging/testing. -->
-  <arg name="launch_shift_decider" default="true"/>
-  <arg name="launch_vehicle_cmd_gate" default="true"/>
-  <arg name="launch_operation_mode_transition_manager" default="true"/>
+  <!-- external cmd selector and converter -->
   <arg name="launch_external_cmd_selector" default="true"/>
   <arg name="launch_external_cmd_converter" default="true"/>
 
@@ -21,6 +17,7 @@
   <arg name="launch_obstacle_collision_checker" default="false"/>
   <arg name="launch_predicted_path_checker" default="false"/>
   <arg name="launch_control_evaluator" default="true"/>
+  <arg name="use_aeb_autoware_state_check"/>
 
   <!-- common param path -->
   <arg name="vehicle_param_file"/>
@@ -55,6 +52,77 @@
       <!-- set a control container to run all required components in the same process -->
       <node_container pkg="rclcpp_components" exec="$(var container_executable)" name="control_container" namespace="">
         <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_control_container_component"/>
+        <!-- shift decider -->
+        <composable_node pkg="autoware_shift_decider" plugin="autoware::shift_decider::ShiftDecider" name="autoware_shift_decider">
+          <remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd"/>
+          <remap from="input/state" to="/autoware/state"/>
+          <remap from="input/current_gear" to="/vehicle/status/gear_status"/>
+          <remap from="output/gear_cmd" to="/control/shift_decider/gear_cmd"/>
+          <param from="$(var shift_decider_param_path)"/>
+          <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+        </composable_node>
+        <!-- vehicle cmd gate -->
+        <composable_node pkg="autoware_vehicle_cmd_gate" plugin="autoware::vehicle_cmd_gate::VehicleCmdGate" name="vehicle_cmd_gate">
+          <remap from="input/steering" to="/vehicle/status/steering_status"/>
+          <remap from="input/operation_mode" to="/system/operation_mode/state"/>
+          <remap from="input/auto/control_cmd" to="/control/trajectory_follower/control_cmd"/>
+          <remap from="input/auto/turn_indicators_cmd" to="/planning/turn_indicators_cmd"/>
+          <remap from="input/auto/hazard_lights_cmd" to="/planning/hazard_lights_cmd"/>
+          <remap from="input/auto/gear_cmd" to="/control/shift_decider/gear_cmd"/>
+          <remap from="input/external/control_cmd" to="/external/selected/control_cmd"/>
+          <remap from="input/external/turn_indicators_cmd" to="/external/selected/turn_indicators_cmd"/>
+          <remap from="input/external/hazard_lights_cmd" to="/external/selected/hazard_lights_cmd"/>
+          <remap from="input/external/gear_cmd" to="/external/selected/gear_cmd"/>
+          <remap from="input/external_emergency_stop_heartbeat" to="/external/selected/heartbeat"/>
+          <remap from="input/gate_mode" to="/control/gate_mode_cmd"/>
+          <remap from="input/emergency/control_cmd" to="/system/emergency/control_cmd"/>
+          <remap from="input/emergency/hazard_lights_cmd" to="/system/emergency/hazard_lights_cmd"/>
+          <remap from="input/emergency/gear_cmd" to="/system/emergency/gear_cmd"/>
+          <remap from="input/mrm_state" to="/system/fail_safe/mrm_state"/>
+          <remap from="input/kinematics" to="/localization/kinematic_state"/>
+          <remap from="input/acceleration" to="/localization/acceleration"/>
+          <remap from="output/vehicle_cmd_emergency" to="/control/command/emergency_cmd"/>
+          <remap from="output/control_cmd" to="/control/command/control_cmd"/>
+          <remap from="output/gear_cmd" to="/control/command/gear_cmd"/>
+          <remap from="output/turn_indicators_cmd" to="/control/command/turn_indicators_cmd"/>
+          <remap from="output/hazard_lights_cmd" to="/control/command/hazard_lights_cmd"/>
+          <remap from="output/gate_mode" to="/control/current_gate_mode"/>
+          <remap from="output/engage" to="/api/autoware/get/engage"/>
+          <remap from="output/external_emergency" to="/api/autoware/get/emergency"/>
+          <remap from="output/operation_mode" to="/control/vehicle_cmd_gate/operation_mode"/>
+          <remap from="~/service/engage" to="/api/autoware/set/engage"/>
+          <remap from="~/service/external_emergency" to="/api/autoware/set/emergency"/>
+          <!-- TODO(Takagi, Isamu): deprecated -->
+          <remap from="input/engage" to="/autoware/engage"/>
+          <remap from="~/service/external_emergency_stop" to="~/external_emergency_stop"/>
+          <remap from="~/service/clear_external_emergency_stop" to="~/clear_external_emergency_stop"/>
+          <param from="$(var vehicle_cmd_gate_param_path)"/>
+          <param from="$(var vehicle_param_file)"/>
+          <param name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
+          <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+        </composable_node>
+        <!-- operation mode transition manager -->
+        <composable_node
+          pkg="autoware_operation_mode_transition_manager"
+          plugin="autoware::operation_mode_transition_manager::OperationModeTransitionManager"
+          name="autoware_operation_mode_transition_manager"
+        >
+          <!-- input -->
+          <remap from="kinematics" to="/localization/kinematic_state"/>
+          <remap from="steering" to="/vehicle/status/steering_status"/>
+          <remap from="trajectory" to="/planning/scenario_planning/trajectory"/>
+          <remap from="control_cmd" to="/control/command/control_cmd"/>
+          <remap from="trajectory_follower_control_cmd" to="/control/trajectory_follower/control_cmd"/>
+          <remap from="control_mode_report" to="/vehicle/status/control_mode"/>
+          <remap from="gate_operation_mode" to="/control/vehicle_cmd_gate/operation_mode"/>
+          <!-- output -->
+          <remap from="is_autonomous_available" to="/control/is_autonomous_available"/>
+          <remap from="control_mode_request" to="/control/control_mode_request"/>
+          <param from="$(var nearest_search_param_path)"/>
+          <param from="$(var operation_mode_transition_manager_param_path)"/>
+          <param from="$(var vehicle_param_file)"/>
+          <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+        </composable_node>
       </node_container>
 
       <!-- trajectory_follower_node -->
@@ -89,92 +157,6 @@
         <node pkg="autoware_smart_mpc_trajectory_follower" exec="pympc_trajectory_follower.py" name="controller_node_exe"/>
       </group>
 
-      <!-- shift decider -->
-      <group if="$(var launch_shift_decider)">
-        <load_composable_node target="/control/control_container">
-          <composable_node pkg="autoware_shift_decider" plugin="autoware::shift_decider::ShiftDecider" name="autoware_shift_decider">
-            <remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd"/>
-            <remap from="input/state" to="/autoware/state"/>
-            <remap from="input/current_gear" to="/vehicle/status/gear_status"/>
-            <remap from="output/gear_cmd" to="/control/shift_decider/gear_cmd"/>
-            <param from="$(var shift_decider_param_path)"/>
-            <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
-          </composable_node>
-        </load_composable_node>
-      </group>
-
-      <!-- vehicle cmd gate -->
-      <group if="$(var launch_vehicle_cmd_gate)">
-        <load_composable_node target="/control/control_container">
-          <composable_node pkg="autoware_vehicle_cmd_gate" plugin="autoware::vehicle_cmd_gate::VehicleCmdGate" name="vehicle_cmd_gate">
-            <remap from="input/steering" to="/vehicle/status/steering_status"/>
-            <remap from="input/operation_mode" to="/system/operation_mode/state"/>
-            <remap from="input/auto/control_cmd" to="/control/trajectory_follower/control_cmd"/>
-            <remap from="input/auto/turn_indicators_cmd" to="/planning/turn_indicators_cmd"/>
-            <remap from="input/auto/hazard_lights_cmd" to="/planning/hazard_lights_cmd"/>
-            <remap from="input/auto/gear_cmd" to="/control/shift_decider/gear_cmd"/>
-            <remap from="input/external/control_cmd" to="/external/selected/control_cmd"/>
-            <remap from="input/external/turn_indicators_cmd" to="/external/selected/turn_indicators_cmd"/>
-            <remap from="input/external/hazard_lights_cmd" to="/external/selected/hazard_lights_cmd"/>
-            <remap from="input/external/gear_cmd" to="/external/selected/gear_cmd"/>
-            <remap from="input/external_emergency_stop_heartbeat" to="/external/selected/heartbeat"/>
-            <remap from="input/gate_mode" to="/control/gate_mode_cmd"/>
-            <remap from="input/emergency/control_cmd" to="/system/emergency/control_cmd"/>
-            <remap from="input/emergency/hazard_lights_cmd" to="/system/emergency/hazard_lights_cmd"/>
-            <remap from="input/emergency/gear_cmd" to="/system/emergency/gear_cmd"/>
-            <remap from="input/mrm_state" to="/system/fail_safe/mrm_state"/>
-            <remap from="input/kinematics" to="/localization/kinematic_state"/>
-            <remap from="input/acceleration" to="/localization/acceleration"/>
-            <remap from="output/vehicle_cmd_emergency" to="/control/command/emergency_cmd"/>
-            <remap from="output/control_cmd" to="/control/command/control_cmd"/>
-            <remap from="output/gear_cmd" to="/control/command/gear_cmd"/>
-            <remap from="output/turn_indicators_cmd" to="/control/command/turn_indicators_cmd"/>
-            <remap from="output/hazard_lights_cmd" to="/control/command/hazard_lights_cmd"/>
-            <remap from="output/gate_mode" to="/control/current_gate_mode"/>
-            <remap from="output/engage" to="/api/autoware/get/engage"/>
-            <remap from="output/external_emergency" to="/api/autoware/get/emergency"/>
-            <remap from="output/operation_mode" to="/control/vehicle_cmd_gate/operation_mode"/>
-            <remap from="~/service/engage" to="/api/autoware/set/engage"/>
-            <remap from="~/service/external_emergency" to="/api/autoware/set/emergency"/>
-            <!-- TODO(Takagi, Isamu): deprecated -->
-            <remap from="input/engage" to="/autoware/engage"/>
-            <remap from="~/service/external_emergency_stop" to="~/external_emergency_stop"/>
-            <remap from="~/service/clear_external_emergency_stop" to="~/clear_external_emergency_stop"/>
-            <param from="$(var vehicle_cmd_gate_param_path)"/>
-            <param from="$(var vehicle_param_file)"/>
-            <param name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
-            <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
-          </composable_node>
-        </load_composable_node>
-      </group>
-
-      <!-- operation mode transition manager -->
-      <group if="$(var launch_operation_mode_transition_manager)">
-        <load_composable_node target="/control/control_container">
-          <composable_node
-            pkg="autoware_operation_mode_transition_manager"
-            plugin="autoware::operation_mode_transition_manager::OperationModeTransitionManager"
-            name="autoware_operation_mode_transition_manager"
-          >
-            <!-- input -->
-            <remap from="kinematics" to="/localization/kinematic_state"/>
-            <remap from="steering" to="/vehicle/status/steering_status"/>
-            <remap from="trajectory" to="/planning/scenario_planning/trajectory"/>
-            <remap from="control_cmd" to="/control/command/control_cmd"/>
-            <remap from="trajectory_follower_control_cmd" to="/control/trajectory_follower/control_cmd"/>
-            <remap from="control_mode_report" to="/vehicle/status/control_mode"/>
-            <remap from="gate_operation_mode" to="/control/vehicle_cmd_gate/operation_mode"/>
-            <!-- output -->
-            <remap from="is_autonomous_available" to="/control/is_autonomous_available"/>
-            <remap from="control_mode_request" to="/control/control_mode_request"/>
-            <param from="$(var nearest_search_param_path)"/>
-            <param from="$(var operation_mode_transition_manager_param_path)"/>
-            <param from="$(var vehicle_param_file)"/>
-            <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
-          </composable_node>
-        </load_composable_node>
-      </group>
-
       <!-- external cmd selector -->
       <group if="$(var launch_external_cmd_selector)">
         <include file="$(find-pkg-share autoware_external_cmd_selector)/launch/external_cmd_selector.launch.py">
@@ -183,7 +165,6 @@
           <arg name="external_cmd_selector_param_path" value="$(var external_cmd_selector_param_path)"/>
         </include>
       </group>
-
       <!-- external cmd converter -->
       <group if="$(var launch_external_cmd_converter)">
         <include file="$(find-pkg-share autoware_external_cmd_converter)/launch/external_cmd_converter.launch.py">