Merge branch 'main' into refactor/mpc_debug_solver_info

Signed-off-by: kyoichi-sugahara <[email protected]>

launch/tier4_planning_launch/launch/planning.launch.xml

@@ -1,35 +1,8 @@
 <launch>
   <!-- planning module -->
 
-  <arg name="vehicle_param_file"/>
-  <arg name="use_pointcloud_container"/>
-  <arg name="pointcloud_container_name"/>
-  <arg name="path_smoother_type"/>
-  <arg name="velocity_smoother_type"/>
-  <arg name="vehicle_param_file"/>
-  <arg name="use_pointcloud_container"/>
-  <arg name="pointcloud_container_name"/>
-  <arg name="use_surround_obstacle_check"/>
-  <arg name="use_experimental_lane_change_function"/>
-
-  <!-- common -->
-  <arg name="common_param_path"/>
-  <arg name="nearest_search_param_path"/>
   <!-- mission planner -->
   <arg name="mission_planner_param_path"/>
-  <!-- behavior path planner -->
-  <arg name="side_shift_param_path"/>
-  <arg name="avoidance_param_path"/>
-  <arg name="dynamic_avoidance_param_path"/>
-  <arg name="lane_change_param_path"/>
-  <arg name="goal_planner_param_path"/>
-  <arg name="start_planner_param_path"/>
-  <arg name="drivable_area_expansion_param_path"/>
-  <arg name="behavior_path_planner_param_path"/>
-  <!-- behavior velocity planner -->
-  <arg name="behavior_velocity_smoother_type_param_path"/>
-  <arg name="behavior_velocity_planner_common_param_path"/>
-  <arg name="behavior_velocity_planner_module_param_paths"/>
   <!-- parking -->
   <arg name="freespace_planner_param_path"/>
   <!-- motion -->
@@ -40,9 +13,6 @@
   <arg name="obstacle_stop_planner_param_path"/>
   <arg name="obstacle_stop_planner_acc_param_path"/>
   <arg name="obstacle_cruise_planner_param_path"/>
-  <!-- motion velocity smoother -->
-  <arg name="motion_velocity_smoother_param_path"/>
-  <arg name="velocity_smoother_type_param_path"/>
   <!-- planning validator -->
   <arg name="planning_validator_param_path"/>
 
@@ -59,14 +29,7 @@
     <!-- scenario planning module -->
     <group>
       <push-ros-namespace namespace="scenario_planning"/>
-      <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/scenario_planning.launch.xml">
-        <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-        <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
-        <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
-        <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
-      </include>
+      <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/scenario_planning.launch.xml"/>
     </group>
 
     <!-- planning validator -->

launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml

@@ -6,12 +6,10 @@
     <group>
       <push-ros-namespace namespace="behavior_planning"/>
       <group>
-        <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py">
-          <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
-          <arg name="use_multithread" value="true"/>
-          <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-          <arg name="container_name" value="$(var pointcloud_container_name)"/>
-          <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
+        <include file="$(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"/>
+          <!-- 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>
       </group>
     </group>