feat(behavior_path_planner): add enable_all_modules_auto_mode argumen…

…t to launch files for behavior path planner modules (autowarefoundation#6093) * Add enable_all_modules_auto_mode argument to launch files Signed-off-by: kyoichi-sugahara <[email protected]> * set default value for enable_all_modules_auto_mode Signed-off-by: kyoichi-sugahara <[email protected]> * fix enable_rtc configuration in scene_module_manager_interface.hpp Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
tier4 · Jan 19, 2024 · 94fb009 · 94fb009
1 parent 15ed4f0
commit 94fb009
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/..._common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/..._common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
@@ -268,7 +268,14 @@ class SceneModuleManagerInterface
     // init manager configuration
     {
       std::string ns = name_ + ".";
-      config_.enable_rtc = getOrDeclareParameter<bool>(*node, ns + "enable_rtc");
+      try {
+        config_.enable_rtc = getOrDeclareParameter<bool>(*node, "enable_all_modules_auto_mode")
+                               ? false
+                               : getOrDeclareParameter<bool>(*node, ns + "enable_rtc");
+      } catch (const std::exception & e) {
+        config_.enable_rtc = getOrDeclareParameter<bool>(*node, ns + "enable_rtc");
+      }
+
       config_.enable_simultaneous_execution_as_approved_module =
         getOrDeclareParameter<bool>(*node, ns + "enable_simultaneous_execution_as_approved_module");
       config_.enable_simultaneous_execution_as_candidate_module = getOrDeclareParameter<bool>(