From e721f659c4af1dad9c96576023e2c8d3b1e1d4f9 Mon Sep 17 00:00:00 2001
From: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Date: Fri, 19 Jan 2024 20:41:08 +0900
Subject: [PATCH 1/2] feat(planning): add enable_all_modules_auto_mode argument
 to launch files for planning modules (#798)

* Add auto mode setting for all modules

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 autoware_launch/launch/autoware.launch.xml                    | 3 +++
 .../launch/components/tier4_planning_component.launch.xml     | 2 ++
 autoware_launch/launch/planning_simulator.launch.xml          | 4 ++++
 3 files changed, 9 insertions(+)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 3915b48c0a..7da1935016 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -75,6 +75,8 @@
     value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml"
     if="$(var use_foa)"
   />
+  <!-- Auto mode setting-->
+  <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -142,6 +144,7 @@
       <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
       <arg name="rtc_auto_mode_manager_param_path" value="$(var rtc_auto_mode_manager_param_path)"/>
       <arg name="scene_module_manager_param_path" value="$(var scene_module_manager_param_path)"/>
+      <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
     </include>
   </group>
 
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 736f9257f3..6df932d985 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -7,12 +7,14 @@
   <arg name="rtc_auto_mode_manager_param_path"/>
   <arg name="scene_module_manager_param_path"/>
   <arg name="module_preset" default="default"/>
+  <arg name="enable_all_modules_auto_mode" default="false"/>
   <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 $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
 
     <!-- common -->
     <arg name="common_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index f0d11d6f0c..f91dd602c3 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -37,6 +37,8 @@
 
   <let name="rviz_respawn" value="false" if="$(var scenario_simulation)"/>
   <let name="rviz_respawn" value="true" unless="$(var scenario_simulation)"/>
+  <!-- Auto mode setting-->
+  <arg name="enable_all_modules_auto_mode" default="$(var scenario_simulation)" description="enable all module's auto mode"/>
 
   <group scoped="false">
     <!-- Vehicle -->
@@ -74,6 +76,8 @@
       <!-- Others -->
       <arg name="use_foa" value="$(var use_foa)"/>
       <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
+      <!-- Auto mode setting-->
+      <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
     </include>
   </group>
 

From f4b128ab665ea702dceab59843833ba90c3d0673 Mon Sep 17 00:00:00 2001
From: "tomoya.kimura" <tomoya.kimura@tier4.jp>
Date: Tue, 23 Jan 2024 10:32:11 +0900
Subject: [PATCH 2/2] feat: enable rtc of crosswalk and intersection and
 traffic_light module

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 .../behavior_velocity_planner/crosswalk.param.yaml            | 2 +-
 .../behavior_velocity_planner/intersection.param.yaml         | 4 ++--
 .../behavior_velocity_planner/traffic_light.param.yaml        | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index 72102ed908..0f4bc0bb88 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -5,7 +5,7 @@
         show_processing_time: false # [-] whether to show processing time
         # param for input data
         traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
-        enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+        enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
 
       # param for stop position
       stop_position:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index 19ce575799..685d5f9438 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -85,8 +85,8 @@
         ttc: [0]
 
       enable_rtc:
-        intersection: false
-        intersection_to_occlusion: false
+        intersection: true
+        intersection_to_occlusion: true
 
     merge_from_private:
       stopline_margin: 3.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
index 0fb3871a9c..db732aa586 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
@@ -6,4 +6,4 @@
       stop_time_hysteresis: 0.1
       yellow_lamp_period: 2.75
       enable_pass_judge: true
-      enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
+      enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval