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] 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>