From 864b9270979a07ba65cd5e054854b3554fe33440 Mon Sep 17 00:00:00 2001
From: Yamato Ando <yamato.ando@gmail.com>
Date: Tue, 30 Jan 2024 16:02:40 +0900
Subject: [PATCH 1/2] refactor(tier4_map_lcomponent): use map.launch.xml
 instead of map.launch.py (#826)

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
---
 .../launch/components/tier4_map_component.launch.xml        | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
index 3062a6cedd..187c63b7c7 100644
--- a/autoware_launch/launch/components/tier4_map_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -1,8 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
-    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.xml">
     <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+    <arg name="pointcloud_map_metadata_path" value="$(var map_path)/pointcloud_map_metadata.yaml"/>
+    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+    <arg name="map_projector_info_path" value="$(var map_path)/map_projector_info.yaml"/>
 
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
     <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>

From 7837d1f039f2639e5e9ec36102a42709387fa5ef Mon Sep 17 00:00:00 2001
From: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Date: Wed, 31 Jan 2024 10:05:51 +0900
Subject: [PATCH 2/2] feat(start_planner): add collision check distances for
 shift and geometric pull out (#832)

* Add collision check distances for shift and geometric pull out

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

---------
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
 .../start_planner/start_planner.param.yaml                      | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
index 27ce630f1a..154c4b1e0b 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -14,6 +14,7 @@
       # shift pull out
       enable_shift_pull_out: true
       check_shift_path_lane_departure: true
+      shift_collision_check_distance_from_end: -10.0
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
       lateral_jerk: 0.5
@@ -23,6 +24,7 @@
       maximum_curvature: 0.07
       # geometric pull out
       enable_geometric_pull_out: true
+      geometric_collision_check_distance_from_end: 0.0
       divide_pull_out_path: true
       geometric_pull_out_velocity: 1.0
       arc_path_interval: 1.0