refactor(launch): add new option to select planning preset

[satoshi-ota]

Description

Add new option planning_module_preset so that it is able to switch launch modules more easily and flexibly.

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=foo vehicle_model:=bar sensor_model:=baz planning_module_preset:=default

  <!-- launch module preset -->
  <arg name="planning_module_preset" default="default" description="planning module preset"/>

We can select launch modules in preset yaml file as follow. In addition, since we can manage launch modules by only one file, we don't have to create new branch in order to change launch modules.

...
  - arg:
      name: use_experimental_lane_change_function
      default: "true"

  - arg:
      name: launch_surround_obstacle_checker
      default: "true"

  - arg:
      name: motion_path_smoother_type
      default: elastic_band
      # option: elastic_band
      #         none

  - arg:
      name: motion_path_planner_type
      default: obstacle_avoidance_planner
      # option: obstacle_avoidance_planner
      #         path_sampler
      #         none

  - arg:
      name: motion_stop_planner_type
      default: obstacle_stop_planner
      # option: obstacle_stop_planner
      #         obstacle_cruise_planner
      #         none
...

How to add preset?

1. create preset file <identification_name>_preset.yaml.
2. put it under /autoware_launch/config/planning/preset/<identification_name>_preset.yaml.
3. launch autoware with option planning_module_preset:=<identification_name>.

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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[tkimura4]

In order to prevent duplicate descriptions and typos in the behavior_velocity_planner plugin, wouldn't it be better to write it in "commented out format" like before?

[satoshi-ota]

@tkimura4 Thanks for your comment. I think so. But it seems that it can't do comment out like this since this parameter is definded as a string.

  - arg:
      name: behavior_velocity_planner_launch_modules
      default: "[behavior_velocity_planner::CrosswalkModulePlugin,
        behavior_velocity_planner::WalkwayModulePlugin,
        behavior_velocity_planner::TrafficLightModulePlugin,
        behavior_velocity_planner::IntersectionModulePlugin,
      # behavior_velocity_planner::MergeFromPrivateModulePlugin,
        behavior_velocity_planner::BlindSpotModulePlugin,
        behavior_velocity_planner::DetectionAreaModulePlugin,
        behavior_velocity_planner::NoStoppingAreaModulePlugin,
        behavior_velocity_planner::StopLineModulePlugin,
        behavior_velocity_planner::OutOfLaneModulePlugin]"

Or do you have any workarounds...?

[tkimura4]

oh... 😢 Sorry, I don't know the solution either.

In the current string format, is it easy to understand errors caused by duplicate plugin descriptions or typos?

[satoshi-ota]

oh... 😢 Sorry, I don't know the solution either.

🙏

In the current string format, is it easy to understand errors caused by duplicate plugin descriptions or typos?

Umm...maybe... It may ouputs error message from node, I guess. 🤔

    RCLCPP_ERROR_STREAM(node.get_logger(), "The scene plugin '" << name << "' is not available.");

https://github.com/autowarefoundation/autoware.universe/blob/0d929d408eb3459962c9cd228421a826669705dc/planning/behavior_velocity_planner/src/planner_manager.cpp#L76

[satoshi-ota]

I think it has better use std::invalid_argument instead of RCLCPP_ERROR_STREAM in order to notice invalid launch config.

[satoshi-ota]

@tkimura4 I update xml so that it can align launch flag style in 096acd8.

[kosuke55]

LGTM

[kosuke55]

link universe pr
autowarefoundation/autoware.universe#5505