From 9546fd7e3836d8bfaab39268c8e2eb36e15d18e4 Mon Sep 17 00:00:00 2001
From: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Date: Fri, 19 Jan 2024 20:41:28 +0900
Subject: [PATCH] feat(behavior_path_planner): add enable_all_modules_auto_mode
 argument to launch files for behavior path planner modules (#6093)

* Add enable_all_modules_auto_mode argument to launch files

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* set default value for enable_all_modules_auto_mode

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* fix enable_rtc configuration in scene_module_manager_interface.hpp

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

---------

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
 launch/tier4_planning_launch/launch/planning.launch.xml  | 6 +++++-
 .../launch/scenario_planning/lane_driving.launch.xml     | 3 +++
 .../behavior_planning/behavior_planning.launch.xml       | 2 ++
 .../scenario_planning/scenario_planning.launch.xml       | 5 ++++-
 .../interface/scene_module_manager_interface.hpp         | 9 ++++++++-
 5 files changed, 22 insertions(+), 3 deletions(-)

diff --git a/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml
index bf81125286256..e02ba883d5115 100644
--- a/launch/tier4_planning_launch/launch/planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/planning.launch.xml
@@ -7,6 +7,8 @@
   <arg name="freespace_planner_param_path"/>
   <!-- planning validator -->
   <arg name="planning_validator_param_path"/>
+  <!-- Auto mode setting-->
+  <arg name="enable_all_modules_auto_mode"/>
 
   <group>
     <push-ros-namespace namespace="planning"/>
@@ -21,7 +23,9 @@
     <!-- scenario planning module -->
     <group>
       <push-ros-namespace namespace="scenario_planning"/>
-      <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/scenario_planning.launch.xml"/>
+      <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/scenario_planning.launch.xml">
+        <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+      </include>
     </group>
 
     <!-- planning validator -->
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml
index 73e466afc0bda..bae084f80b51e 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml
@@ -1,4 +1,6 @@
 <launch>
+  <arg name="enable_all_modules_auto_mode"/>
+
   <!-- lane_driving scenario -->
   <group>
     <push-ros-namespace namespace="lane_driving"/>
@@ -8,6 +10,7 @@
       <group>
         <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml">
           <arg name="container_type" value="component_container_mt"/>
+          <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
           <!-- This condition should be true if run_out module is enabled and its detection method is Points -->
           <arg name="launch_compare_map_pipeline" value="false"/>
         </include>
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index b36b40ed6a980..c06023fd5daa1 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -4,6 +4,7 @@
   <arg name="input_virtual_traffic_light_topic_name" default="/awapi/tmp/virtual_traffic_light_states"/>
   <arg name="input_vector_map_topic_name" default="/map/vector_map"/>
   <arg name="input_pointcloud_map_topic_name" default="/map/pointcloud_map"/>
+  <arg name="enable_all_modules_auto_mode"/>
 
   <arg name="launch_avoidance_module" default="true"/>
   <arg name="launch_avoidance_by_lane_change_module" default="true"/>
@@ -200,6 +201,7 @@
       <param from="$(var vehicle_param_file)"/>
       <param from="$(var nearest_search_param_path)"/>
       <param name="launch_modules" value="$(var behavior_path_planner_launch_modules)"/>
+      <param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
       <param from="$(var behavior_path_planner_side_shift_module_param_path)"/>
       <param from="$(var behavior_path_planner_avoidance_module_param_path)"/>
       <param from="$(var behavior_path_planner_avoidance_by_lc_module_param_path)"/>
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
index 66c90ef2ff833..e673d28804480 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -1,4 +1,5 @@
 <launch>
+  <arg name="enable_all_modules_auto_mode"/>
   <!-- scenario selector -->
   <group>
     <include file="$(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml">
@@ -50,7 +51,9 @@
   <group>
     <!-- lane driving -->
     <group>
-      <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving.launch.xml"/>
+      <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving.launch.xml">
+        <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+      </include>
     </group>
     <!-- parking -->
     <group>
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
index 95976bf117096..d76cbc80499be 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
@@ -261,7 +261,14 @@ 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>(