Revert "[TMP] launch with debug prefix"

This reverts commit 609d59b.

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py

@@ -23,7 +23,7 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 from launch.substitutions import PythonExpression
-from launch_ros.actions import ComposableNodeContainer, Node
+from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
 from launch_ros.substitutions import FindPackageShare
 import yaml
@@ -150,10 +150,9 @@ def launch_setup(context, *args, **kwargs):
         with open(path) as f:
             behavior_velocity_planner_params.update(yaml.safe_load(f)["/**"]["ros__parameters"])
 
-    behavior_velocity_planner_component = Node(
+    behavior_velocity_planner_component = ComposableNode(
         package="behavior_velocity_planner",
-        # plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode",
-        executable="behavior_velocity_planner_node",
+        plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode",
         name="behavior_velocity_planner",
         namespace="",
         remappings=[
@@ -203,8 +202,7 @@ def launch_setup(context, *args, **kwargs):
             motion_velocity_smoother_param,
             behavior_velocity_smoother_type_param,
         ],
-        prefix="konsole -e gdb -ex run --args",
-        # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
     container = ComposableNodeContainer(
@@ -214,6 +212,7 @@ def launch_setup(context, *args, **kwargs):
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[
             behavior_path_planner_component,
+            behavior_velocity_planner_component,
             glog_component,
         ],
         output="screen",
@@ -262,7 +261,6 @@ def launch_setup(context, *args, **kwargs):
     group = GroupAction(
         [
             container,
-            behavior_velocity_planner_component,
             load_compare_map,
             load_vector_map_inside_area_filter,
         ]