From 0ea6e14535e75fd8e4893ba5380cb5d0b0502bd7 Mon Sep 17 00:00:00 2001
From: Autumn60 <37181352+Autumn60@users.noreply.github.com>
Date: Sat, 24 Aug 2024 14:05:29 +0900
Subject: [PATCH] feat(launch): create booars launch (#19)

* create booars_launch

Signed-off-by: Autumn60 <harada.akiro@gmail.com>

* replace reference.launch.xml to booars.launch.xml

Signed-off-by: Autumn60 <harada.akiro@gmail.com>

* update CODEOWNERS

Signed-off-by: Autumn60 <harada.akiro@gmail.com>

---------

Signed-off-by: Autumn60 <harada.akiro@gmail.com>
---
 .github/CODEOWNERS                            |    1 +
 .../launch/aichallenge_submit.launch.xml      |    6 +-
 .../booars_launch/CMakeLists.txt              |    6 +
 .../config/sensing/imu_corrector.param.yaml   |    8 +
 .../booars_launch/launch/booars.launch.xml    |   54 +
 .../launch/components/common.launch.xml       |   26 +
 .../launch/components/control.launch.xml      |   17 +
 .../launch/components/localization.launch.xml |   44 +
 .../launch/components/map.launch.xml          |   41 +
 .../launch/components/perception.launch.xml   |    9 +
 .../launch/components/planning.launch.xml     |  104 +
 .../launch/components/sensing.launch.xml      |   25 +
 .../launch/components/vehicle.launch.xml      |    6 +
 .../booars_launch/map/lanelet2_map.osm        | 6025 +++++++++++++++++
 .../booars_launch/package.xml                 |   18 +
 15 files changed, 6385 insertions(+), 5 deletions(-)
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/CMakeLists.txt
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/config/sensing/imu_corrector.param.yaml
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/booars.launch.xml
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/common.launch.xml
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/localization.launch.xml
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/map.launch.xml
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/perception.launch.xml
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/sensing.launch.xml
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/vehicle.launch.xml
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map.osm
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/package.xml

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 6b1ec347..d5d743c9 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -1,4 +1,5 @@
 aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/** @booars/aic2024-developers
+aichallenge/workspace/src/aichallenge_submit/booars_launch/** @Autumn60
 aichallenge/workspace/src/aichallenge_submit/booars_utils/** @Autumn60
 aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/** @hrjp
 aichallenge/workspace/src/aichallenge_submit/gyro_odometer/** @booars/aic2024-developers
diff --git a/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml b/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml
index bd904eab..510f861c 100644
--- a/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml
+++ b/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml
@@ -1,11 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <log message="This is aichallenge_submit_launch."/>
-  <include file="$(find-pkg-share aichallenge_submit_launch)/launch/reference.launch.xml" >
-    <arg name="vehicle_model" value="racing_kart"/>
-    <arg name="sensor_model" value="racing_kart_sensor_kit"/>
-    <arg name="map_path" value="$(find-pkg-share aichallenge_submit_launch)/map"/>
-  </include>
+  <include file="$(find-pkg-share booars_launch)/launch/booars.launch.xml" />
 
   <!-- place a goal pose anywhere you like-->
   <node pkg="goal_pose_setter" exec="goal_pose_setter_node" name="goal_pose_setter" output="screen">
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/CMakeLists.txt b/aichallenge/workspace/src/aichallenge_submit/booars_launch/CMakeLists.txt
new file mode 100644
index 00000000..6440f8e3
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/CMakeLists.txt
@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 3.5)
+project(booars_launch)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+ament_auto_package(INSTALL_TO_SHARE launch map config)
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/sensing/imu_corrector.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/sensing/imu_corrector.param.yaml
new file mode 100644
index 00000000..24405b3c
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/sensing/imu_corrector.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    angular_velocity_offset_x: 0.0    # [rad/s]
+    angular_velocity_offset_y: 0.0    # [rad/s]
+    angular_velocity_offset_z: 0.0    # [rad/s]
+    angular_velocity_stddev_xx: 0.03  # [rad/s]
+    angular_velocity_stddev_yy: 0.03  # [rad/s]
+    angular_velocity_stddev_zz: 0.03  # [rad/s]
\ No newline at end of file
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/booars.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/booars.launch.xml
new file mode 100644
index 00000000..642e91c8
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/booars.launch.xml
@@ -0,0 +1,54 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <arg name="use_sim_time" default="true"/>
+  
+  <arg name="map_path" default="$(find-pkg-share booars_launch)/map"/>
+
+  <arg name="vehicle_model" default="racing_kart"  description="vehicle model name"/>
+  <arg name="sensor_model" default="racing_kart_sensor_kit" description="sensor model name"/>
+
+  <!-- Optional parameters -->
+  <arg name="lanelet2_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
+
+  <!-- Common -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/common.launch.xml">
+    <arg name="use_sim_time" value="$(var use_sim_time)"/>
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+  </include>
+
+  <!-- Map -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/map.launch.xml">
+    <arg name="map_path" value="$(var map_path)"/>
+    <arg name="lanelet2_map_file" value="$(var lanelet2_file)"/>
+  </include>
+
+  <!-- Sensing -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/sensing.launch.xml"/>
+
+  <!-- Perception -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/perception.launch.xml"/>
+
+  <!-- Localization -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/localization.launch.xml"/>
+
+  <!-- Planning -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/planning.launch.xml"/>
+
+  <!-- Control -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/control.launch.xml"/>
+
+  <!-- Vehicle -->
+  <include file="$(find-pkg-share booars_launch)/launch/components/vehicle.launch.xml"/>
+
+  <!-- API -->
+  <group>
+    <!-- default_ad_api -->
+    <include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py" />
+
+    <!-- ad_api_adaptors -->
+    <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" />
+  </group>
+
+</launch>
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/common.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/common.launch.xml
new file mode 100644
index 00000000..972982fd
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/common.launch.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <!-- Parameters -->
+  <arg name="use_sim_time" description="use_sim_time"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
+
+  <!-- Global Parameter Loader -->
+  <group scoped="false">
+    <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
+      <arg name="use_sim_time" value="$(var use_sim_time)"/>
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+    </include>
+  </group>
+
+  <!-- Robot State Publisher -->
+  <group>
+    <arg name="model_file" default="$(find-pkg-share tier4_vehicle_launch)/urdf/vehicle.xacro" description="path to the file of model settings (*.xacro)"/>
+    <arg name="config_dir" default="$(find-pkg-share racing_kart_sensor_kit_description)/config"/>
+    <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
+      <param name="robot_description" value="$(command 'xacro $(var model_file) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model) config_dir:=$(var config_dir)' 'warn')"/>
+    </node>
+  </group>
+
+</launch>
\ No newline at end of file
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml
new file mode 100644
index 00000000..f23f0812
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <group>
+    <push-ros-namespace namespace="control"/>
+    <node pkg="simple_pure_pursuit" exec="simple_pure_pursuit" name="simple_pure_pursuit_node" output="screen">
+      <param name="use_external_target_vel" value="true"/>
+      <param name="external_target_vel" value="8.0"/>
+      <param name="lookahead_gain" value="0.3"/>
+      <param name="lookahead_min_distance" value="4.0"/>
+      <param name="speed_proportional_gain" value="1.0"/>
+
+      <remap from="input/kinematics" to="/localization/kinematic_state"/>
+      <remap from="input/trajectory" to="/planning/scenario_planning/trajectory"/>
+      <remap from="output/control_cmd" to="/control/command/control_cmd"/>
+    </node>
+  </group>
+</launch>
\ No newline at end of file
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/localization.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/localization.launch.xml
new file mode 100644
index 00000000..ab77ad89
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/localization.launch.xml
@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <group>
+    <push-ros-namespace namespace="localization"/>
+    <include file="$(find-pkg-share gyro_odometer)/launch/gyro_odometer.launch.xml">
+      <arg name="input_vehicle_twist_with_covariance_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="input_imu_topic" value="/sensing/imu/imu_data"/>
+      <arg name="output_twist_with_covariance_topic" value="/localization/twist_estimator/twist_with_covariance"/>
+      <arg name="output_twist_with_covariance_raw_topic" value="/localization/twist_estimator/twist_with_covariance_raw"/>
+    </include>
+
+    <node pkg="imu_gnss_poser" exec="imu_gnss_poser_node" name="imu_gnss_poser" output="screen"/>
+
+    <include file="$(find-pkg-share ekf_localizer)/launch/ekf_localizer.launch.xml">
+      <arg name="enable_yaw_bias_estimation" value="false"/>
+      <arg name="tf_rate" value="50.0"/>
+      <arg name="twist_smoothing_steps" value="1"/>
+      <arg name="input_initial_pose_name" value="/localization/initial_pose3d"/>
+      <arg name="input_pose_with_cov_name" value="/localization/imu_gnss_poser/pose_with_covariance"/>
+      <arg name="input_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
+      <arg name="output_odom_name" value="kinematic_state"/>
+      <arg name="output_pose_name" value="pose"/>
+      <arg name="output_pose_with_covariance_name" value="/localization/pose_with_covariance"/>
+      <arg name="output_biased_pose_name" value="biased_pose"/>
+      <arg name="output_biased_pose_with_covariance_name" value="biased_pose_with_covariance"/>
+      <arg name="output_twist_name" value="twist"/>
+      <arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>
+      <arg name="proc_stddev_vx_c" value="10.0"/>
+      <arg name="proc_stddev_wz_c" value="5.0"/>
+    </include>
+
+    <!-- twist2accel -->
+    <group>
+      <node pkg="twist2accel" exec="twist2accel" name="twist2accel" output="screen">
+        <param name="accel_lowpass_gain" value="0.9"/>
+        <param name="use_odom" value="true"/>
+        <remap from="input/odom" to="/localization/kinematic_state"/>
+        <remap from="input/twist" to="/localization/twist_estimator/twist_with_covariance"/>
+        <remap from="output/accel" to="/localization/acceleration"/>
+      </node>
+    </group>
+
+  </group>
+</launch>
\ No newline at end of file
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/map.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/map.launch.xml
new file mode 100644
index 00000000..e5d3e09d
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/map.launch.xml
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <!-- Parameters -->
+  <arg name="map_path" />
+  <arg name="lanelet2_map_file" />
+
+  <group>
+    <push-ros-namespace namespace="map"/>
+
+    <!-- map_container -->
+    <node_container pkg="rclcpp_components" exec="component_container" name="map_container" namespace="">
+
+      <!-- map_loader::Lanelet2MapLoaderNode -->
+      <composable_node pkg="map_loader" plugin="Lanelet2MapLoaderNode" name="lanelet2_map_loader" namespace="">
+        <remap from="output/lanelet2_map" to="vector_map" />
+        <param name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)" />
+        <param from="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml" />
+        <extra_arg name="use_intra_process_comms" value="false" />
+      </composable_node>
+
+      <!-- map_loader::Lanelet2MapVisualizationNode -->
+      <composable_node pkg="map_loader" plugin="Lanelet2MapVisualizationNode" name="lanelet2_map_visualization" namespace="">
+        <remap from="input/lanelet2_map" to="vector_map" />
+        <remap from="output/lanelet2_map_marker" to="vector_map_marker" />
+        <param name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)" />
+        <param from="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml" />
+        <extra_arg name="use_intra_process_comms" value="false" />
+      </composable_node>
+
+      <!-- map_tf_generator::VectorMapTFGeneratorNode -->
+      <composable_node pkg="map_tf_generator" plugin="VectorMapTFGeneratorNode" name="vector_map_tf_generator" namespace="">
+        <param name="map_frame" value="map" />
+        <param name="viewer_frame" value="viewer" />
+        <extra_arg name="use_intra_process_comms" value="false" />
+      </composable_node>
+
+    </node_container>
+
+  </group>
+</launch>
\ No newline at end of file
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/perception.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/perception.launch.xml
new file mode 100644
index 00000000..c2338819
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/perception.launch.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <group>
+    <push-ros-namespace namespace="perception"/>
+    <node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
+      <remap from="~/output/objects" to="/perception/object_recognition/objects"/>
+    </node>
+  </group>
+</launch>
\ No newline at end of file
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
new file mode 100644
index 00000000..2c8c989f
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
@@ -0,0 +1,104 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <group>
+    <push-ros-namespace namespace="planning"/>
+
+    <!-- mission_planning -->
+    <group>
+      <push-ros-namespace namespace="mission_planning"/>
+
+      <!-- mission_planner -->
+      <node pkg="mission_planner" exec="mission_planner" name="mission_planner" output="screen">
+        <remap from="input/modified_goal" to="/planning/scenario_planning/modified_goal"/>
+        <remap from="input/vector_map" to="/map/vector_map"/>
+        <!-- <remap from="/localization/kinematic_state" to="/awsim/ground_truth/localization/kinematic_state"/> -->
+        <remap from="debug/route_marker" to="/planning/mission_planning/route_marker"/>
+        <param from="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>
+      </node>
+
+      <!-- goal_pose_visualizer -->
+      <node pkg="mission_planner" exec="goal_pose_visualizer" name="goal_pose_visualizer" output="screen">
+        <remap from="input/route" to="/planning/mission_planning/route"/>
+        <remap from="output/goal_pose" to="/planning/mission_planning/echo_back_goal_pose"/>
+      </node>
+
+    </group> <!-- mission_planning -->
+
+    <!-- scenario_planning -->
+    <group>
+      <push-ros-namespace namespace="scenario_planning"/>
+
+      <!-- scenario_selector -->
+      <group>
+        <arg name="cmd" default="ros2 topic pub /planning/scenario_planning/scenario tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}'"/>
+        <executable cmd="$(var cmd)" name="scenario_pub" shell="true"/>
+      </group> <!-- scenario_selector -->
+
+      <!-- operation_mode -->
+      <group>
+        <arg name="cmd" default="ros2 topic pub /system/operation_mode/state autoware_adapi_v1_msgs/msg/OperationModeState '{
+          mode: 1,
+          is_autoware_control_enabled: true,
+          is_in_transition: false,
+          is_stop_mode_available: true,
+          is_autonomous_mode_available: true,
+          is_local_mode_available: true,
+          is_remote_mode_available: true
+          }'"/>
+        <executable cmd="$(var cmd)" name="operation_mode_pub" shell="true"/>
+      </group> <!-- operation_mode -->
+
+      <!-- lane_driving -->
+      <group>
+        <push-ros-namespace namespace="lane_driving"/>
+
+        <!-- behavior_planning -->
+        <group>
+          <push-ros-namespace namespace="behavior_planning"/>
+
+          <!-- behavior_planning_container -->
+          <node_container pkg="rclcpp_components" exec="component_container" name="behavior_planning_container" namespace="">
+
+            <!-- behavior_path_planner::BehaviorPathPlannerNode -->
+            <composable_node pkg="behavior_path_planner" plugin="behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">
+              <remap from="~/input/route" to="/planning/mission_planning/route" />
+              <remap from="~/input/vector_map" to="/map/vector_map" />
+              <remap from="~/input/perception" to="/perception/object_recognition/objects" /> <!-- autoware_auto_perception_msgs/PredictedObjects -->
+              <remap from="~/input/occupancy_grid_map" to="/perception/occupancy_grid_map/map" />
+              <remap from="~/input/costmap" to="/planning/scenario_planning/parking/costmap_generator/occupancy_grid" />
+              <remap from="~/input/odometry" to="/localization/kinematic_state" />
+              <remap from="~/input/accel" to="/localization/acceleration" />
+              <remap from="~/input/scenario" to="/planning/scenario_planning/scenario" />
+              <remap from="~/output/path" to="path_with_lane_id" />
+              <remap from="~/output/turn_indicators_cmd" to="/planning/turn_indicators_cmd" />
+              <remap from="~/output/hazard_lights_cmd" to="/planning/hazard_lights_cmd" />
+              <remap from="~/output/modified_goal" to="/planning/scenario_planning/modified_goal" />
+              <param name="bt_tree_config_path" value="$(find-pkg-share aichallenge_submit_launch)/config/behavior_path_planner_tree.xml"/>
+              <param name="lane_change.enable_abort_lane_change" value="false"/>
+              <param name="lane_change.enable_collision_check_at_prepare_phase" value="false"/>
+              <param name="lane_change.use_predicted_path_outside_lanelet" value="false"/>
+              <param name="lane_change.use_all_predicted_path" value="false"/>
+              <param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/nearest_search.param.yaml" />
+              <param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml" />
+              <param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml" />
+              <param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml" />
+              <param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml" />
+              <param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml" />
+              <param from="$(find-pkg-share aichallenge_submit_launch)/config/behavior_path_planner.param.yaml" />
+              <param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml" />
+              <extra_arg name="use_intra_process_comms" value="false" />
+            </composable_node>
+
+          </node_container>
+        </group> <!-- behavior_planning -->
+      </group> <!-- lane_driving -->
+
+      <!-- Customizable -->
+      <node pkg="path_to_trajectory" exec="path_to_trajectory_node" name="path_to_trajectory" output="screen">
+        <remap from="input" to="/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id"/>
+        <remap from="output" to="/planning/scenario_planning/trajectory"/>
+      </node>
+
+    </group>
+  </group>
+</launch>
\ No newline at end of file
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/sensing.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/sensing.launch.xml
new file mode 100644
index 00000000..403f1b21
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/sensing.launch.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <group>
+
+    <push-ros-namespace namespace="sensing"/>
+  
+    <!-- Vehicle Velocity Converter  -->
+    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+      <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
+      <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+    </include>
+
+    <!-- IMU Corrector -->
+    <group>
+      <push-ros-namespace namespace="imu"/>
+      <arg name="imu_corrector_param_file" default="$(find-pkg-share booars_launch)/config/sensing/imu_corrector.param.yaml"/>
+      <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
+        <arg name="input_topic" value="imu_raw"/>
+        <arg name="output_topic" value="imu_data"/>
+        <arg name="param_file" value="$(var imu_corrector_param_file)"/>
+      </include>
+    </group>
+
+  </group>
+</launch>
\ No newline at end of file
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/vehicle.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/vehicle.launch.xml
new file mode 100644
index 00000000..97d01413
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/vehicle.launch.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <group>
+    <push-ros-namespace namespace="vehicle"/>
+  </group>
+</launch>
\ No newline at end of file
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map.osm b/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map.osm
new file mode 100644
index 00000000..0c9222a4
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map.osm
@@ -0,0 +1,6025 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<osm generator="VMB">
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+  </way>
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+    <member type="way" role="left" ref="1479"/>
+    <member type="way" role="right" ref="1481"/>
+    <member type="way" role="centerline" ref="1888"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="road"/>
+    <tag k="speed_limit" v="40"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
+  </relation>
+  <relation id="1483">
+    <member type="way" role="left" ref="1480"/>
+    <member type="way" role="right" ref="1482"/>
+    <member type="way" role="centerline" ref="2249"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="road"/>
+    <tag k="speed_limit" v="40"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
+  </relation>
+</osm>
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/package.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/package.xml
new file mode 100644
index 00000000..638899bc
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>booars_launch</name>
+  <version>0.1.0</version>
+  <description>The booars_launch package</description>
+
+  <maintainer email="harada.akiro@gmail.com">Akiro Harada</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>