From 1f0a5a14b319f7ff4f1bf34baef9e53e2328edf7 Mon Sep 17 00:00:00 2001
From: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Date: Fri, 19 Jan 2024 20:41:08 +0900
Subject: [PATCH] feat(planning): add enable_all_modules_auto_mode argument to
 launch files for planning modules (#798)

* Add auto mode setting for all modules

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
 autoware_launch/launch/autoware.launch.xml                    | 3 +++
 .../launch/components/tier4_planning_component.launch.xml     | 2 ++
 autoware_launch/launch/planning_simulator.launch.xml          | 4 ++++
 3 files changed, 9 insertions(+)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 80822d0146..64bdf47c72 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -44,6 +44,8 @@
   <!-- Perception -->
   <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
+  <!-- Auto mode setting-->
+  <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -103,6 +105,7 @@
   <group if="$(var launch_planning)">
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
       <arg name="module_preset" value="$(var planning_module_preset)"/>
+      <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
     </include>
   </group>
 
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 4711f4b7f0..4e65c30c02 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -2,12 +2,14 @@
 <launch>
   <!-- NOTE: optional parameters are written here -->
   <arg name="module_preset" default="default"/>
+  <arg name="enable_all_modules_auto_mode" default="false"/>
   <include file="$(find-pkg-share autoware_launch)/config/planning/preset/$(var module_preset)_preset.yaml"/>
 
   <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)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
 
     <!-- common -->
     <arg name="common_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 28a0f0e347..030299f5af 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -30,6 +30,8 @@
   <let name="rviz_respawn" value="true" unless="$(var scenario_simulation)"/>
   <!-- Vcu emulation -->
   <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
+  <!-- Auto mode setting-->
+  <arg name="enable_all_modules_auto_mode" default="$(var scenario_simulation)" description="enable all module's auto mode"/>
 
   <group scoped="false">
     <!-- Vehicle -->
@@ -63,6 +65,8 @@
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>
       <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
+      <!-- Auto mode setting-->
+      <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
     </include>
   </group>