replace behavior path planner with path generator

Signed-off-by: mitukou1109 <[email protected]>

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    planning_hz: 10.0
+    backward_path_length: 5.0
+    forward_path_length: 300.0
+
+    enable_akima_spline_first: false
+    input_path_interval: 2.0

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -21,25 +21,8 @@
     <!-- mission planner -->
     <arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>
 
-    <!-- behavior path planner -->
-    <arg name="behavior_path_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"/>
-    <arg name="behavior_path_planner_common_param_path" value="$(var behavior_path_config_path)/behavior_path_planner.param.yaml"/>
-    <arg name="behavior_path_planner_scene_module_manager_param_path" value="$(var behavior_path_config_path)/scene_module_manager.param.yaml"/>
-    <arg name="behavior_path_planner_side_shift_module_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
-    <arg
-      name="behavior_path_planner_static_obstacle_avoidance_module_param_path"
-      value="$(var behavior_path_config_path)/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml"
-    />
-    <arg name="behavior_path_planner_avoidance_by_lc_module_param_path" value="$(var behavior_path_config_path)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml"/>
-    <arg name="behavior_path_planner_sampling_planner_module_param_path" value="$(var behavior_path_config_path)/sampling_planner/sampling_planner.param.yaml"/>
-    <arg
-      name="behavior_path_planner_dynamic_obstacle_avoidance_module_param_path"
-      value="$(var behavior_path_config_path)/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml"
-    />
-    <arg name="behavior_path_planner_lane_change_module_param_path" value="$(var behavior_path_config_path)/lane_change/lane_change.param.yaml"/>
-    <arg name="behavior_path_planner_goal_planner_module_param_path" value="$(var behavior_path_config_path)/goal_planner/goal_planner.param.yaml"/>
-    <arg name="behavior_path_planner_start_planner_module_param_path" value="$(var behavior_path_config_path)/start_planner/start_planner.param.yaml"/>
-    <arg name="behavior_path_planner_drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
+    <!-- path generator -->
+    <arg name="path_generator_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator.param.yaml"/>
 
     <!-- behavior velocity planner -->
     <arg name="behavior_velocity_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"/>