From b05bd5ccff54c135761f0c24dc1887c2ebf3ce60 Mon Sep 17 00:00:00 2001
From: Yuki Takagi <yuki.takagi@tier4.jp>
Date: Thu, 11 Apr 2024 14:16:45 +0900
Subject: [PATCH] add launch

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 .../motion_planning.launch.xml                | 49 +++++++++++++++++++
 1 file changed, 49 insertions(+)

diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
index 18de04fd9e317..ea25be8e9d788 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -165,6 +165,55 @@
       </load_composable_node>
     </group>
 
+    <!-- First Obstacle Cruise -->
+    <group if="$(eval &quot;'$(var motion_stop_planner_type)' == 'obstacle_cruise_planner_with_pseudo_occulusion'&quot;)">
+      <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
+        <composable_node pkg="obstacle_cruise_planner" plugin="motion_planning::ObstacleCruisePlannerNode" name="obstacle_cruise_planner" namespace="">
+          <!-- topic remap -->
+          <remap from="~/input/trajectory" to="obstacle_velocity_limiter/trajectory"/>
+          <remap from="~/input/odometry" to="/localization/kinematic_state"/>
+          <remap from="~/input/acceleration" to="/localization/acceleration"/>
+          <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
+          <remap from="~/output/trajectory" to="obstacle_cruise/trajectory"/>
+          <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
+          <remap from="~/output/velocity_limit" to="/planning/scenario_planning/max_velocity_candidates"/>
+          <remap from="~/output/clear_velocity_limit" to="/planning/scenario_planning/clear_velocity_limit"/>
+          <!-- params -->
+          <param from="$(var common_param_path)"/>
+          <param from="$(var vehicle_param_file)"/>
+          <param from="$(var nearest_search_param_path)"/>
+          <param from="$(var obstacle_cruise_planner_param_path)"/>
+          <!-- composable node config -->
+          <extra_arg name="use_intra_process_comms" value="false"/>
+        </composable_node>
+      </load_composable_node>
+    </group>
+    
+    <!-- Second Obstacle Cruise -->
+    <group if="$(eval &quot;'$(var motion_stop_planner_type)' == 'obstacle_cruise_planner_with_pseudo_occulusion'&quot;)">
+      <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
+        <composable_node pkg="obstacle_cruise_planner" plugin="motion_planning::ObstacleCruisePlannerNode" name="obstacle_cruise_planner_pseudo_occulusion" namespace="">
+          <!-- topic remap -->
+          <remap from="~/input/trajectory" to="obstacle_cruise/trajectory"/>
+          <remap from="~/input/odometry" to="/localization/kinematic_state"/>
+          <remap from="~/input/acceleration" to="/localization/acceleration"/>
+          <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
+          <remap from="~/output/trajectory" to="$(var interface_output_topic)"/>
+          <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
+          <remap from="~/output/velocity_limit" to="/planning/scenario_planning/max_velocity_candidates"/>
+          <remap from="~/output/clear_velocity_limit" to="/planning/scenario_planning/clear_velocity_limit"/>
+          <!-- params -->
+          <param from="$(var common_param_path)"/>
+          <param from="$(var vehicle_param_file)"/>
+          <param from="$(var nearest_search_param_path)"/>
+          <param from="$(var obstacle_cruise_planner_pseudo_occulusion_param_path)"/>
+          <!-- composable node config -->
+          <extra_arg name="use_intra_process_comms" value="false"/>
+        </composable_node>
+      </load_composable_node>
+    </group>
+
+
     <group if="$(eval &quot;'$(var motion_stop_planner_type)' == 'none'&quot;)">
       <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
         <composable_node pkg="topic_tools" plugin="topic_tools::RelayNode" name="obstacle_stop_relay" namespace="">