Sync public repo (autowarefoundation#185)

* add tier4 usbcam (autowarefoundation#104) * add tier4 usbcam * change version * tier4/ros2 * Ros2 vehicle info param server (autowarefoundation#96) * add vehicle info param server * delete vehicle param file Co-authored-by: taikitanaka <ttatcoder@outlook.jp> * Ros2 fix topic name part2 (autowarefoundation#89) * Fix topic name for traffic_light_classifier Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name for traffic_light_visualization Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name for traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: taikitanaka <ttatcoder@outlook.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
tkimura4 · Dec 10, 2021 · 2703537 · 2703537
1 parent 3f5d204
commit 2703537
Showing 5 changed files with 0 additions and 15 deletions.
diff --git a/launch/planning_launch/launch/planning.launch.xml b/launch/planning_launch/launch/planning.launch.xml
@@ -1,5 +1,4 @@
 <launch>
-  <arg name="vehicle_param_file" />
   <!-- planning module -->
   <group>
     <push-ros-namespace namespace="planning"/>
@@ -14,7 +13,6 @@
     <group>
       <push-ros-namespace namespace="scenario_planning"/>
       <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/scenario_planning.launch.xml">
-        <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
       </include>
     </group>
   </group>

diff --git a/launch/planning_launch/launch/scenario_planning/lane_driving.launch.xml b/launch/planning_launch/launch/scenario_planning/lane_driving.launch.xml
@@ -1,5 +1,4 @@
 <launch>
-  <arg name="vehicle_param_file" />
 
   <!-- lane_driving scenario -->
   <group>
@@ -8,15 +7,13 @@
     <group>
       <push-ros-namespace namespace="behavior_planning"/>
       <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml">
-        <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
       </include>
     </group>
 
     <!-- motion planning module -->
     <group>
       <push-ros-namespace namespace="motion_planning"/>
       <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml">
-        <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
       </include>
     </group>
   </group>

diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -1,7 +1,6 @@
 <launch>
   <arg name="input_route_topic_name" default="/planning/mission_planning/route" />
   <arg name="map_topic_name" default="/map/vector_map" />
-  <arg name="vehicle_param_file" />
 
   <node pkg="lane_change_planner" exec="lane_change_planner" name="lane_change_planner" output="screen">
     <param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>
@@ -41,7 +40,6 @@
     <param name="use_all_predicted_path" value="false" />
     <param name="refine_goal_search_radius_range" value="7.5" />
     <param name="enable_blocked_by_obstacle" value="false" />
-    <param from="$(var vehicle_param_file)" />
   </node>
 
   <executable cmd="ros2 topic pub /planning/scenario_planning/lane_driving/lane_change_approval
@@ -54,11 +52,9 @@
     <remap from="output/turn_signal_cmd" to="/planning/turn_signal_decider/turn_signal_cmd" />
     <param name="lane_change_search_distance" value="30.0" />
     <param name="intersection_search_distance" value="30.0" />
-    <param from="$(var vehicle_param_file)" />
   </node>
 
   <include file="$(find-pkg-share behavior_velocity_planner)/launch/behavior_velocity_planner.launch.xml">
-    <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
   </include>
 
 </launch>
diff --git a/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -1,6 +1,5 @@
 <launch>
   <arg name="input_path_topic" default="/planning/scenario_planning/lane_driving/behavior_planning/path" />
-  <arg name="vehicle_param_file" />
   <arg name="use_surround_obstacle_check" default="true" />
 
   <!-- path planning for avoiding obstacle with dynamic object info -->
@@ -9,7 +8,6 @@
       <arg name="param_path" value="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"/>
       <arg name="input_path_topic" value="$(var input_path_topic)" />
       <arg name="output_path_topic" value="obstacle_avoidance_planner/trajectory" />
-      <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
     </include>
   </group>
 
@@ -19,7 +17,6 @@
     <include file="$(find-pkg-share surround_obstacle_checker)/launch/surround_obstacle_checker.launch.xml">
       <arg name="input_trajectory" value="obstacle_avoidance_planner/trajectory" />
       <arg name="output_trajectory" value="surround_obstacle_checker/trajectory" />
-      <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
       <arg name="param_path" value="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml"/>
     </include>
   </group>
@@ -40,7 +37,6 @@
       <arg name="input_trajectory" value="surround_obstacle_checker/trajectory" />
       <arg name="input_pointcloud" value="/sensing/lidar/no_ground/pointcloud" />
       <arg name="output_trajectory" value="/planning/scenario_planning/lane_driving/trajectory" />
-      <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
       <arg name="acc_param_file" value="$(find-pkg-share planning_launch)/config/adaptive_cruise_control.param.yaml" />
       <arg name="param_file" value="$(find-pkg-share planning_launch)/config/obstacle_stop_planner.param.yaml" />
       <arg name="enable_slow_down" value="false" />

diff --git a/launch/planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -1,5 +1,4 @@
 <launch>
-  <arg name="vehicle_param_file" />
 
   <!-- scenario selector -->
   <include file="$(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml">
@@ -27,7 +26,6 @@
   <group>
     <!-- lane driving -->
     <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/lane_driving.launch.xml">
-      <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
     </include>
     <!-- parking -->
     <include file="$(find-pkg-share planning_launch)/launch/scenario_planning/parking.launch.xml">