From c42bd46d6ef64ba6321a5e90bcfd356b1bcf4867 Mon Sep 17 00:00:00 2001
From: "Kem (TiankuiXian)" <1041084556@qq.com>
Date: Tue, 19 Nov 2024 11:44:18 +0900
Subject: [PATCH] feat(control): use preset.yaml to control which modules to
 launch for control modules (#1237)

* add control_module_preset

Signed-off-by: xtk8532704 <1041084556@qq.com>

* fix typo

Signed-off-by: xtk8532704 <1041084556@qq.com>

---------

Signed-off-by: xtk8532704 <1041084556@qq.com>
---
 .../config/control/preset/default_preset.yaml | 39 +++++++++++++++++++
 .../preset/dlr_control_validator_preset.yaml  | 39 +++++++++++++++++++
 autoware_launch/launch/autoware.launch.xml    |  5 ++-
 .../tier4_control_component.launch.xml        |  9 ++---
 .../launch/e2e_simulator.launch.xml           |  2 +
 .../launch/logging_simulator.launch.xml       |  2 +
 .../launch/planning_simulator.launch.xml      |  2 +
 7 files changed, 91 insertions(+), 7 deletions(-)
 create mode 100644 autoware_launch/config/control/preset/default_preset.yaml
 create mode 100644 autoware_launch/config/control/preset/dlr_control_validator_preset.yaml

diff --git a/autoware_launch/config/control/preset/default_preset.yaml b/autoware_launch/config/control/preset/default_preset.yaml
new file mode 100644
index 0000000000..74ba17b0a1
--- /dev/null
+++ b/autoware_launch/config/control/preset/default_preset.yaml
@@ -0,0 +1,39 @@
+launch:
+  # controller
+  - arg:
+      name: trajectory_follower_mode
+      default: trajectory_follower_node
+      # option: trajectory_follower_node
+      #         smart_mpc_trajectory_follower
+      #         none
+
+  # external_cmd selector/converter
+  - arg:
+      name: launch_external_cmd_selector
+      default: "true"
+  - arg:
+      name: launch_external_cmd_converter
+      default: "true"
+
+  # optional control checkers
+  - arg:
+      name: launch_lane_departure_checker
+      default: "true"
+  - arg:
+      name: launch_control_validator
+      default: "true"
+  - arg:
+      name: launch_autonomous_emergency_braking
+      default: "true"
+  - arg:
+      name: launch_collision_detector
+      default: "true"
+  - arg:
+      name: launch_obstacle_collision_checker
+      default: "false"
+  - arg:
+      name: launch_predicted_path_checker
+      default: "false"
+  - arg:
+      name: launch_control_evaluator
+      default: "true"
diff --git a/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml b/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml
new file mode 100644
index 0000000000..1ad7ce9ac9
--- /dev/null
+++ b/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml
@@ -0,0 +1,39 @@
+launch:
+  # controller
+  - arg:
+      name: trajectory_follower_mode
+      default: none
+      # option: trajectory_follower_node
+      #         smart_mpc_trajectory_follower
+      #         none
+
+  # external_cmd selector/converter
+  - arg:
+      name: launch_external_cmd_selector
+      default: "false"
+  - arg:
+      name: launch_external_cmd_converter
+      default: "false"
+
+  # optional control checkers
+  - arg:
+      name: launch_lane_departure_checker
+      default: "false"
+  - arg:
+      name: launch_control_validator
+      default: "true"
+  - arg:
+      name: launch_autonomous_emergency_braking
+      default: "false"
+  - arg:
+      name: launch_collision_detector
+      default: "false"
+  - arg:
+      name: launch_obstacle_collision_checker
+      default: "false"
+  - arg:
+      name: launch_predicted_path_checker
+      default: "false"
+  - arg:
+      name: launch_control_evaluator
+      default: "false"
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 95f15f59fb..29378cc0c8 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -9,6 +9,7 @@
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
+  <arg name="control_module_preset" default="default" description="control module preset"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
@@ -113,7 +114,9 @@
 
   <!-- Control -->
   <group if="$(var launch_control)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml">
+      <arg name="module_preset" value="$(var control_module_preset)"/>
+    </include>
   </group>
 
   <!-- API -->
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index d23a3c42c5..99cfe7484f 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <launch>
   <!-- optional parameters are written here -->
+  <arg name="module_preset" default="default"/>
+  <include file="$(find-pkg-share autoware_launch)/config/control/preset/$(var module_preset)_preset.yaml"/>
+
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
   <arg name="use_aeb_autoware_state_check" default="true"/>
-  <arg name="enable_autonomous_emergency_braking" default="true"/>
-  <arg name="enable_predicted_path_checker" default="false"/>
-  <arg name="enable_collision_detector" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
@@ -43,10 +43,7 @@
     <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
     <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
     <arg name="collision_detector_param_path" value="$(find-pkg-share autoware_launch)/config/control/autoware_collision_detector/collision_detector.param.yaml"/>
-    <arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
     <arg name="use_aeb_autoware_state_check" value="$(var use_aeb_autoware_state_check)"/>
-    <arg name="enable_predicted_path_checker" value="$(var enable_predicted_path_checker)"/>
-    <arg name="enable_collision_detector" value="$(var enable_collision_detector)"/>
     <arg name="predicted_path_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/predicted_path_checker/predicted_path_checker.param.yaml"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index b1a5d6ee8b..3237754c48 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -10,6 +10,7 @@
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
+  <arg name="control_module_preset" default="default" description="control module preset"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
@@ -51,6 +52,7 @@
       <arg name="data_path" value="$(var data_path)"/>
       <!-- launch module preset -->
       <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
+      <arg name="control_module_preset" value="$(var control_module_preset)"/>
       <!-- Modules to be launched -->
       <arg name="launch_vehicle" value="$(var vehicle)"/>
       <arg name="launch_map" value="$(var map)"/>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 8780578a6e..df5f591fc4 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -9,6 +9,7 @@
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
+  <arg name="control_module_preset" value="$(var control_module_preset)"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
@@ -43,6 +44,7 @@
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <!-- launch module preset -->
       <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
+      <arg name="control_module_preset" value="$(var control_module_preset)"/>
       <!-- Modules to be launched -->
       <arg name="launch_vehicle" value="$(var vehicle)"/>
       <arg name="launch_map" value="$(var map)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index bc601cb30f..b7e21999f1 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -8,6 +8,7 @@
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
+  <arg name="control_module_preset" value="$(var control_module_preset)"/>
 
   <!-- Optional parameters -->
   <!-- Map -->
@@ -58,6 +59,7 @@
       <arg name="data_path" value="$(var data_path)"/>
       <!-- launch module preset -->
       <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
+      <arg name="control_module_preset" value="$(var control_module_preset)"/>
       <!-- Modules to be launched -->
       <arg name="launch_sensing" value="false"/>
       <arg name="launch_localization" value="false"/>