From 7a762f42bf7036c5ef0cd26f9e7f2af166d90694 Mon Sep 17 00:00:00 2001
From: satoshi-ota <satoshi.ota928@gmail.com>
Date: Tue, 7 Nov 2023 14:45:01 +0900
Subject: [PATCH] refactor(launch): add new option to select planning preset

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 autoware_launch/launch/autoware.launch.xml    |  7 +++++-
 .../tier4_planning_component.launch.xml       | 24 +++++--------------
 .../launch/e2e_simulator.launch.xml           |  5 ++++
 .../launch/logging_simulator.launch.xml       |  5 ++++
 .../launch/planning_simulator.launch.xml      |  5 ++++
 5 files changed, 27 insertions(+), 19 deletions(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 5d98c9388f..80822d0146 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -8,6 +8,9 @@
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
+  <!-- launch module preset -->
+  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
   <arg name="launch_vehicle" default="true" description="launch vehicle"/>
@@ -98,7 +101,9 @@
 
   <!-- Planning -->
   <group if="$(var launch_planning)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
+      <arg name="module_preset" value="$(var planning_module_preset)"/>
+    </include>
   </group>
 
   <!-- Control -->
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 5f14006f7a..5fb17541cd 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -1,24 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <!-- NOTE: optional parameters are written here -->
-  <!-- behavior -->
-  <arg name="use_experimental_lane_change_function" default="true"/>
-  <!-- motion -->
-  <arg name="motion_path_smoother_type" default="elastic_band" description="options: elastic_band, none"/>
-  <arg name="motion_path_planner_type" default="obstacle_avoidance_planner" description="options: obstacle_avoidance_planner, path_sampler, none"/>
-  <arg name="motion_stop_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
-  <arg name="motion_velocity_smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
-  <arg name="enable_surround_check" default="true"/>
-
-  <!-- variables -->
-  <arg name="behavior_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning"/>
-  <arg name="behavior_path_config_path" default="$(var behavior_config_path)/behavior_path_planner"/>
-  <arg name="behavior_velocity_config_path" default="$(var behavior_config_path)/behavior_velocity_planner"/>
-  <arg name="motion_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
-  <arg name="common_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
-
-  <!-- parking module -->
-  <arg name="launch_parking_module" default="true"/>
+  <arg name="module_preset" default="default"/>
+  <include file="$(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 $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
@@ -26,6 +10,7 @@
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
 
     <!-- common -->
+    <arg name="common_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
     <arg name="common_param_path" value="$(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"/>
@@ -34,6 +19,7 @@
     <arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>
 
     <!-- behavior path planner -->
+    <arg name="behavior_path_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"/>
     <arg name="behavior_path_planner_common_param_path" value="$(var behavior_path_config_path)/behavior_path_planner.param.yaml"/>
     <arg name="behavior_path_planner_scene_module_manager_param_path" value="$(var behavior_path_config_path)/scene_module_manager.param.yaml"/>
     <arg name="behavior_path_planner_side_shift_module_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
@@ -46,6 +32,7 @@
     <arg name="behavior_path_planner_drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
 
     <!-- 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_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"/>
@@ -68,6 +55,7 @@
     <arg name="freespace_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>
 
     <!-- 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="$(var motion_config_path)/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"/>
     <arg name="path_sampler_param_path" value="$(var motion_config_path)/path_sampler/path_sampler.param.yaml"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index fe8d1de1d8..d920584c6c 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -6,6 +6,9 @@
   <arg name="sensor_model" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
+  <!-- launch module preset -->
+  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
   <arg name="vehicle" default="true" description="launch vehicle"/>
@@ -43,6 +46,8 @@
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="data_path" value="$(var data_path)"/>
+      <!-- launch module preset -->
+      <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
       <!-- Modules to be launched -->
       <arg name="launch_vehicle" value="$(var vehicle)"/>
       <arg name="launch_map" value="$(var map)"/>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 7eb13135d3..a2b66e91ed 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -7,6 +7,9 @@
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
+  <!-- launch module preset -->
+  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
   <arg name="vehicle" default="true" description="launch vehicle"/>
@@ -39,6 +42,8 @@
       <arg name="map_path" value="$(var map_path)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
+      <!-- launch module preset -->
+      <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
       <!-- Modules to be launched -->
       <arg name="launch_vehicle" value="$(var vehicle)"/>
       <arg name="launch_map" value="$(var map)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index fdc86ebba7..28a0f0e347 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -6,6 +6,9 @@
   <arg name="sensor_model" description="sensor model name"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
+  <!-- launch module preset -->
+  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+
   <!-- Optional parameters -->
   <!-- Map -->
   <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
@@ -39,6 +42,8 @@
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <arg name="data_path" value="$(var data_path)"/>
+      <!-- launch module preset -->
+      <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
       <!-- Modules to be launched -->
       <arg name="launch_sensing" value="false"/>
       <arg name="launch_localization" value="false"/>