From 61a72d2bb93259a44393ccc9382296f764c7990e Mon Sep 17 00:00:00 2001
From: xtk8532704 <1041084556@qq.com>
Date: Fri, 15 Nov 2024 01:28:27 +0900
Subject: [PATCH] tmp save.

---
 .../launch/control.launch.xml                 | 345 +++++++++---------
 1 file changed, 180 insertions(+), 165 deletions(-)

diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml
index c234d1ac28e08..ad66355d5f173 100644
--- a/launch/tier4_control_launch/launch/control.launch.xml
+++ b/launch/tier4_control_launch/launch/control.launch.xml
@@ -55,119 +55,124 @@
       <node_container pkg="rclcpp_components" exec="$(var container_executable)" name="control_container" namespace=""/>
 
       <!-- trajectory_follower_node -->
-      <load_composable_node target="/control/control_container" if="$(eval &quot;'$(var trajectory_follower_mode)' == 'trajectory_follower_node'&quot;)">
-        <composable_node pkg="autoware_trajectory_follower_node" plugin="autoware::motion::control::trajectory_follower_node::Controller" name="controller_node_exe" namespace="trajectory_follower">
-          <remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
-          <remap from="~/input/current_odometry" to="/localization/kinematic_state"/>
-          <remap from="~/input/current_steering" to="/vehicle/status/steering_status"/>
-          <remap from="~/input/current_accel" to="/localization/acceleration"/>
-          <remap from="~/input/current_operation_mode" to="/system/operation_mode/state"/>
-          <remap from="~/output/predicted_trajectory" to="lateral/predicted_trajectory"/>
-          <remap from="~/output/lateral_diagnostic" to="lateral/diagnostic"/>
-          <remap from="~/output/slope_angle" to="longitudinal/slope_angle"/>
-          <remap from="~/output/longitudinal_diagnostic" to="longitudinal/diagnostic"/>
-          <remap from="~/output/stop_reason" to="longitudinal/stop_reason"/>
-          <remap from="~/output/control_cmd" to="control_cmd"/>
-          <param name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
-          <param name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>
-          <param from="$(var nearest_search_param_path)"/>
-          <param from="$(var trajectory_follower_node_param_path)"/>
-          <param from="$(var lon_controller_param_path)"/>
-          <param from="$(var lat_controller_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>
-        <!-- if="$(var launch_basic_control_modules)" -->
-      <load_composable_node target="/control/control_container">
-        <!-- lane departure checker -->
-        <composable_node pkg="autoware_lane_departure_checker" plugin="autoware::lane_departure_checker::LaneDepartureCheckerNode" name="lane_departure_checker_node" namespace="trajectory_follower">
-          <remap from="~/input/odometry" to="/localization/kinematic_state"/>
-          <remap from="~/input/lanelet_map_bin" to="/map/vector_map"/>
-          <remap from="~/input/route" to="/planning/mission_planning/route"/>
-          <remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
-          <remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
-          <param from="$(var nearest_search_param_path)"/>
-          <param from="$(var lane_departure_checker_param_path)"/>
-          <param from="$(var vehicle_param_file)"/>
-          <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
-        </composable_node>
+      <group if="$(eval &quot;'$(var trajectory_follower_mode)' == 'trajectory_follower_node'&quot;)">
+        <load_composable_node target="/control/control_container" >
+          <composable_node pkg="autoware_trajectory_follower_node" plugin="autoware::motion::control::trajectory_follower_node::Controller" name="controller_node_exe" namespace="trajectory_follower">
+            <remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
+            <remap from="~/input/current_odometry" to="/localization/kinematic_state"/>
+            <remap from="~/input/current_steering" to="/vehicle/status/steering_status"/>
+            <remap from="~/input/current_accel" to="/localization/acceleration"/>
+            <remap from="~/input/current_operation_mode" to="/system/operation_mode/state"/>
+            <remap from="~/output/predicted_trajectory" to="lateral/predicted_trajectory"/>
+            <remap from="~/output/lateral_diagnostic" to="lateral/diagnostic"/>
+            <remap from="~/output/slope_angle" to="longitudinal/slope_angle"/>
+            <remap from="~/output/longitudinal_diagnostic" to="longitudinal/diagnostic"/>
+            <remap from="~/output/stop_reason" to="longitudinal/stop_reason"/>
+            <remap from="~/output/control_cmd" to="control_cmd"/>
+            <param name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
+            <param name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>
+            <param from="$(var nearest_search_param_path)"/>
+            <param from="$(var trajectory_follower_node_param_path)"/>
+            <param from="$(var lon_controller_param_path)"/>
+            <param from="$(var lat_controller_param_path)"/>
+            <param from="$(var vehicle_param_file)"/>
+            <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+          </composable_node>
+        </load_composable_node>
+      </group>
 
-        <!-- 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>
+      <group if="$(var launch_basic_control_modules)">
+        <load_composable_node target="/control/control_container">
+          <!-- lane departure checker -->
+          <composable_node pkg="autoware_lane_departure_checker" plugin="autoware::lane_departure_checker::LaneDepartureCheckerNode" name="lane_departure_checker_node" namespace="trajectory_follower">
+            <remap from="~/input/odometry" to="/localization/kinematic_state"/>
+            <remap from="~/input/lanelet_map_bin" to="/map/vector_map"/>
+            <remap from="~/input/route" to="/planning/mission_planning/route"/>
+            <remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
+            <remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
+            <param from="$(var nearest_search_param_path)"/>
+            <param from="$(var lane_departure_checker_param_path)"/>
+            <param from="$(var vehicle_param_file)"/>
+            <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>
+          <!-- 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>
 
-        <!-- 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>
-        <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component"/>
-      </load_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>
+
+          <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component"/>
+        </load_composable_node>
+      </group>
     </group>
 
     <!-- external cmd selector -->
@@ -188,69 +193,79 @@
     </group>
 
     <!-- obstacle collision checker -->
-    <load_composable_node target="/control/control_container" if="$(var enable_obstacle_collision_checker)">
-      <composable_node pkg="autoware_obstacle_collision_checker" plugin="autoware::obstacle_collision_checker::ObstacleCollisionCheckerNode" name="obstacle_collision_checker">
-        <remap from="input/lanelet_map_bin" to="/map/vector_map"/>
-        <remap from="input/obstacle_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
-        <remap from="input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
-        <remap from="input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
-        <remap from="input/odometry" to="/localization/kinematic_state"/>
-        <param from="$(var obstacle_collision_checker_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 if="$(var enable_obstacle_collision_checker)">
+      <load_composable_node target="/control/control_container">
+        <composable_node pkg="autoware_obstacle_collision_checker" plugin="autoware::obstacle_collision_checker::ObstacleCollisionCheckerNode" name="obstacle_collision_checker">
+          <remap from="input/lanelet_map_bin" to="/map/vector_map"/>
+          <remap from="input/obstacle_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
+          <remap from="input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
+          <remap from="input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
+          <remap from="input/odometry" to="/localization/kinematic_state"/>
+          <param from="$(var obstacle_collision_checker_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>
 
     <!-- autonomous emergency braking -->
-    <load_composable_node target="/control/control_container" if="$(var enable_autonomous_emergency_braking)">
-      <composable_node pkg="autoware_autonomous_emergency_braking" plugin="autoware::motion::control::autonomous_emergency_braking::AEB" name="autonomous_emergency_braking">
-        <remap from="~/input/pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
-        <remap from="~/input/velocity" to="/vehicle/status/velocity_status"/>
-        <remap from="~/input/imu" to="/sensing/imu/imu_data"/>
-        <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
-        <remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
-        <param from="$(var aeb_param_path)"/>
-        <param name="check_autoware_state" value="$(var use_aeb_autoware_state_check)"/>
-        <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
-      </composable_node>
-    </load_composable_node>
+    <group if="$(var enable_autonomous_emergency_braking)">
+      <load_composable_node target="/control/control_container" >
+        <composable_node pkg="autoware_autonomous_emergency_braking" plugin="autoware::motion::control::autonomous_emergency_braking::AEB" name="autonomous_emergency_braking">
+          <remap from="~/input/pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
+          <remap from="~/input/velocity" to="/vehicle/status/velocity_status"/>
+          <remap from="~/input/imu" to="/sensing/imu/imu_data"/>
+          <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
+          <remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
+          <param from="$(var aeb_param_path)"/>
+          <param name="check_autoware_state" value="$(var use_aeb_autoware_state_check)"/>
+          <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+        </composable_node>
+      </load_composable_node>
+    </group>
 
     <!-- predicted path checker -->
-    <load_composable_node target="/control/control_container" if="$(var enable_predicted_path_checker)">
-      <composable_node pkg="predicted_path_checker" plugin="autoware::motion::control::predicted_path_checker::PredictedPathCheckerNode" name="predicted_path_checker">
-        <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
-        <remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
-        <remap from="~/input/current_accel" to="/localization/acceleration"/>
-        <remap from="~/input/odometry" to="/localization/kinematic_state"/>
-        <remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
-        <param from="$(var vehicle_param_file)"/>
-        <param from="$(var predicted_path_checker_param_path)"/>
-        <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
-      </composable_node>
-    </load_composable_node>
+    <group if="$(var enable_predicted_path_checker)">
+      <load_composable_node target="/control/control_container">
+        <composable_node pkg="predicted_path_checker" plugin="autoware::motion::control::predicted_path_checker::PredictedPathCheckerNode" name="predicted_path_checker">
+          <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
+          <remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
+          <remap from="~/input/current_accel" to="/localization/acceleration"/>
+          <remap from="~/input/odometry" to="/localization/kinematic_state"/>
+          <remap from="~/input/predicted_trajectory" to="/control/trajectory_follower/lateral/predicted_trajectory"/>
+          <param from="$(var vehicle_param_file)"/>
+          <param from="$(var predicted_path_checker_param_path)"/>
+          <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+        </composable_node>
+      </load_composable_node>
+    </group>
 
     <!-- control evaluator -->
-    <load_composable_node target="/control/control_container" if="$(var launch_control_evaluator)">
-      <composable_node pkg="autoware_control_evaluator" plugin="control_diagnostics::ControlEvaluatorNode" name="control_evaluator">
-        <remap from="~/input/diagnostics" to="/diagnostics"/>
-        <remap from="~/input/odometry" to="/localization/kinematic_state"/>
-        <remap from="~/input/acceleration" to="/localization/acceleration"/>
-        <remap from="~/input/trajectory" to="/planning/scenario_planning/trajectory"/>
-        <remap from="~/metrics" to="/control/control_evaluator/metrics"/>
-        <remap from="~/input/vector_map" to="/map/vector_map"/>
-        <remap from="~/input/route" to="/planning/mission_planning/route"/>
-      </composable_node>
-    </load_composable_node>
+    <group if="$(var launch_control_evaluator)">
+      <load_composable_node target="/control/control_container">
+        <composable_node pkg="autoware_control_evaluator" plugin="control_diagnostics::ControlEvaluatorNode" name="control_evaluator">
+          <remap from="~/input/diagnostics" to="/diagnostics"/>
+          <remap from="~/input/odometry" to="/localization/kinematic_state"/>
+          <remap from="~/input/acceleration" to="/localization/acceleration"/>
+          <remap from="~/input/trajectory" to="/planning/scenario_planning/trajectory"/>
+          <remap from="~/metrics" to="/control/control_evaluator/metrics"/>
+          <remap from="~/input/vector_map" to="/map/vector_map"/>
+          <remap from="~/input/route" to="/planning/mission_planning/route"/>
+        </composable_node>
+      </load_composable_node>
+    </group>
 
     <!-- collision detector-->
-    <load_composable_node target="/control/control_container" if="$(var enable_collision_detector)">
-      <composable_node pkg="autoware_collision_detector" plugin="autoware::collision_detector::CollisionDetectorNode" name="collision_detector">
-        <remap from="~/input/odometry" to="/localization/kinematic_state"/>
-        <remap from="~/input/pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
-        <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
-        <param from="$(var collision_detector_param_path)"/>
-      </composable_node>
-    </load_composable_node>
+    <group if="$(var enable_collision_detector)">
+      <load_composable_node target="/control/control_container">
+        <composable_node pkg="autoware_collision_detector" plugin="autoware::collision_detector::CollisionDetectorNode" name="collision_detector">
+          <remap from="~/input/odometry" to="/localization/kinematic_state"/>
+          <remap from="~/input/pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
+          <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
+          <param from="$(var collision_detector_param_path)"/>
+        </composable_node>
+      </load_composable_node>
+    </group>
   </group>
 
   <group if="$(var launch_control_validator)">