From e9ba1544fa90167d87bf47b52ac5f39058177da2 Mon Sep 17 00:00:00 2001
From: Fumiya Watanabe <rej55.g@gmail.com>
Date: Thu, 15 Sep 2022 11:15:07 +0900
Subject: [PATCH] feat(planning_launch): add rtc_auto_mode_manager (#433)

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
---
 .../rtc_auto_approver.param.yaml              | 29 -------------------
 .../rtc_auto_mode_manager.param.yaml          | 29 +++++++++++++++++++
 .../scenario_planning/lane_driving.launch.xml |  6 ++--
 3 files changed, 32 insertions(+), 32 deletions(-)
 delete mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml
 create mode 100644 planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml

diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml
deleted file mode 100644
index 5b98c1c070667..0000000000000
--- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml
+++ /dev/null
@@ -1,29 +0,0 @@
-/**:
-  ros__parameters:
-    module_list:
-      - "behavior_velocity_planner/blind_spot"
-      - "behavior_velocity_planner/crosswalk"
-      - "behavior_velocity_planner/detection_area"
-      - "behavior_velocity_planner/intersection"
-      - "behavior_velocity_planner/no_stopping_area"
-      - "behavior_velocity_planner/traffic_light"
-      - "behavior_path_planner/lane_change_left"
-      - "behavior_path_planner/lane_change_right"
-      - "behavior_path_planner/avoidance_left"
-      - "behavior_path_planner/avoidance_right"
-      - "behavior_path_planner/pull_over"
-      - "behavior_path_planner/pull_out"
-
-    default_enable_list:
-      - "behavior_velocity_planner/blind_spot"
-      - "behavior_velocity_planner/crosswalk"
-      - "behavior_velocity_planner/detection_area"
-      - "behavior_velocity_planner/intersection"
-      - "behavior_velocity_planner/no_stopping_area"
-      - "behavior_velocity_planner/traffic_light"
-      - "behavior_path_planner/lane_change_left"
-      - "behavior_path_planner/lane_change_right"
-      - "behavior_path_planner/avoidance_left"
-      - "behavior_path_planner/avoidance_right"
-      - "behavior_path_planner/pull_over"
-      - "behavior_path_planner/pull_out"
diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
new file mode 100644
index 0000000000000..8ba0a402ee861
--- /dev/null
+++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -0,0 +1,29 @@
+/**:
+  ros__parameters:
+    module_list:
+      - "blind_spot"
+      - "crosswalk"
+      - "detection_area"
+      - "intersection"
+      - "no_stopping_area"
+      - "traffic_light"
+      - "lane_change_left"
+      - "lane_change_right"
+      - "avoidance_left"
+      - "avoidance_right"
+      - "pull_over"
+      - "pull_out"
+
+    default_enable_list:
+      - "blind_spot"
+      - "crosswalk"
+      - "detection_area"
+      - "intersection"
+      - "no_stopping_area"
+      - "traffic_light"
+      - "lane_change_left"
+      - "lane_change_right"
+      - "avoidance_left"
+      - "avoidance_right"
+      - "pull_over"
+      - "pull_out"
diff --git a/planning_launch/launch/scenario_planning/lane_driving.launch.xml b/planning_launch/launch/scenario_planning/lane_driving.launch.xml
index a0e35c5874279..e232b7a0afc49 100644
--- a/planning_launch/launch/scenario_planning/lane_driving.launch.xml
+++ b/planning_launch/launch/scenario_planning/lane_driving.launch.xml
@@ -17,9 +17,9 @@
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
-      <arg name="rtc_auto_approver_param_path" default="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml"/>
-      <include file="$(find-pkg-share rtc_auto_approver)/launch/rtc_auto_approver.launch.xml">
-        <arg name="param_path" value="$(var rtc_auto_approver_param_path)"/>
+      <arg name="rtc_auto_mode_manager_param_path" default="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml"/>
+      <include file="$(find-pkg-share rtc_auto_mode_manager)/launch/rtc_auto_mode_manager.launch.xml">
+        <arg name="param_path" value="$(var rtc_auto_mode_manager_param_path)"/>
       </include>
     </group>