From c154c33645ca6e3828c73eb21a8b482e01b126bb Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 28 Jan 2025 23:11:57 +0900
Subject: [PATCH] update launch

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../motion_planning.launch.xml                | 23 +++++++++++++++++++
 1 file changed, 23 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 2d5177d4252d8..4e39c8e43d4ab 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
@@ -2,6 +2,9 @@
   <arg name="interface_input_topic" default="/planning/scenario_planning/lane_driving/behavior_planning/path"/>
   <arg name="interface_output_topic" default="/planning/scenario_planning/lane_driving/trajectory"/>
 
+  <arg name="launch_obstacle_stop_module" default="true"/>
+  <arg name="launch_obstacle_slow_down_module" default="true"/>
+  <arg name="launch_obstacle_cruise_module" default="true"/>
   <arg name="launch_dynamic_obstacle_stop_module" default="true"/>
   <arg name="launch_out_of_lane_module" default="true"/>
   <arg name="launch_obstacle_velocity_limiter_module" default="true"/>
@@ -9,6 +12,21 @@
 
   <!-- assemble launch config for motion velocity planner -->
   <arg name="motion_velocity_planner_launch_modules" default="["/>
+  <let
+    name="motion_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var motion_velocity_planner_launch_modules)' + 'autoware::motion_velocity_planner::ObstacleStopModule, '&quot;)"
+    if="$(var launch_obstacle_stop_module)"
+  />
+  <let
+    name="motion_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var motion_velocity_planner_launch_modules)' + 'autoware::motion_velocity_planner::ObstacleSlowDownModule, '&quot;)"
+    if="$(var launch_obstacle_slow_down_module)"
+  />
+  <let
+    name="motion_velocity_planner_launch_modules"
+    value="$(eval &quot;'$(var motion_velocity_planner_launch_modules)' + 'autoware::motion_velocity_planner::ObstacleCruiseModule, '&quot;)"
+    if="$(var launch_obstacle_cruise_module)"
+  />
   <let
     name="motion_velocity_planner_launch_modules"
     value="$(eval &quot;'$(var motion_velocity_planner_launch_modules)' + 'autoware::motion_velocity_planner::OutOfLaneModule, '&quot;)"
@@ -131,6 +149,8 @@
         <remap from="~/input/virtual_traffic_light_states" to="/perception/virtual_traffic_light_states"/>
         <remap from="~/input/occupancy_grid" to="/perception/occupancy_grid_map/map"/>
         <remap from="~/output/trajectory" to="motion_velocity_planner/trajectory"/>
+        <remap from="~/output/velocity_limit" to="/planning/scenario_planning/max_velocity_candidates"/>
+        <remap from="~/output/clear_velocity_limit" to="/planning/scenario_planning/clear_velocity_limit"/>
         <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
         <remap from="~/output/velocity_factors" to="/planning/velocity_factors/motion_velocity_planner"/>
         <!-- params -->
@@ -141,6 +161,9 @@
         <param from="$(var velocity_smoother_param_path)"/>
         <param from="$(var motion_velocity_planner_velocity_smoother_type_param_path)"/>
         <param from="$(var motion_velocity_planner_param_path)"/>
+        <param from="$(var motion_velocity_planner_obstacle_stop_module_param_path)"/>
+        <param from="$(var motion_velocity_planner_obstacle_slow_down_module_param_path)"/>
+        <param from="$(var motion_velocity_planner_obstacle_cruise_module_param_path)"/>
         <param from="$(var motion_velocity_planner_dynamic_obstacle_stop_module_param_path)"/>
         <param from="$(var motion_velocity_planner_out_of_lane_module_param_path)"/>
         <param from="$(var motion_velocity_planner_obstacle_velocity_limiter_param_path)"/>