From 426378d93ada2c1b6f205f4e6be4cd1be8e2d0c7 Mon Sep 17 00:00:00 2001
From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date: Tue, 7 Nov 2023 17:29:53 +0900
Subject: [PATCH] chore(tier4_planning_launch): add costmap generator config
 (#679)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 .../common/costmap_generator.param.yaml       | 22 +++++++++++++++++++
 .../tier4_planning_component.launch.xml       |  4 ++++
 2 files changed, 26 insertions(+)
 create mode 100644 autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml

diff --git a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml
new file mode 100644
index 0000000000..cf4f73dc79
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml
@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    costmap_frame: "map"
+    vehicle_frame: "base_link"
+    map_frame: "map"
+    update_rate: 10.0
+    activate_by_scenario: False
+    grid_min_value: 0.0
+    grid_max_value: 1.0
+    grid_resolution: 0.2
+    grid_length_x: 70.0
+    grid_length_y: 70.0
+    grid_position_x: 0.0
+    grid_position_y: 0.0
+    maximum_lidar_height_thres: 0.3
+    minimum_lidar_height_thres: -2.2
+    use_wayarea: true
+    use_parkinglot: true
+    use_objects: true
+    use_points: true
+    expand_polygon_size: 1.0
+    size_of_expansion_kernel: 9
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 7a21273131..5f14006f7a 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -17,6 +17,9 @@
   <arg name="motion_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
   <arg name="common_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
 
+  <!-- parking module -->
+  <arg name="launch_parking_module" default="true"/>
+
   <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)"/>
@@ -25,6 +28,7 @@
     <!-- common -->
     <arg name="common_param_path" value="$(var common_config_path)/common.param.yaml"/>
     <arg name="nearest_search_param_path" value="$(var common_config_path)/nearest_search.param.yaml"/>
+    <arg name="costmap_generator_param_path" value="$(var common_config_path)/costmap_generator.param.yaml"/>
 
     <!-- mission planner -->
     <arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>