From a5eb1afc50a9cfff85bd554834680bd61c64c28e Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Mon, 20 Jan 2025 00:11:57 +0900
Subject: [PATCH] feat: add
 motion_velocity_obstacle_stop/slow_down/cruise_module

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../config/planning/preset/default_preset.yaml           | 9 +++++++++
 .../components/tier4_planning_component.launch.xml       | 6 ++++++
 2 files changed, 15 insertions(+)

diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 0ffeeeccf0..5f95afb271 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -93,6 +93,15 @@ launch:
       #         none
 
   # motion velocity planner modules
+  - arg:
+      name: launch_obstacle_stop_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_slow_down_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_cruise_module
+      default: "true"
   - arg:
       name: launch_dynamic_obstacle_stop_module
       default: "true"
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index a01a5fca17..bf2ed9459d 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -74,6 +74,12 @@
     <arg name="obstacle_stop_planner_acc_param_path" value="$(var motion_config_path)/obstacle_stop_planner/adaptive_cruise_control.param.yaml"/>
     <arg name="obstacle_cruise_planner_param_path" value="$(var motion_config_path)/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"/>
     <arg name="motion_velocity_planner_param_path" value="$(var motion_config_path)/motion_velocity_planner/motion_velocity_planner.param.yaml"/>
+    <!-- <arg name="motion_velocity_planner_obstacle_stop_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/obstacle_stop.param.yaml"/> -->
+    <!-- <arg name="motion_velocity_planner_obstacle_slow_down_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/obstacle_slow_down.param.yaml"/> -->
+    <!-- <arg name="motion_velocity_planner_obstacle_cruise_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/obstacle_cruise.param.yaml"/> -->
+    <arg name="motion_velocity_planner_obstacle_stop_module_param_path" value="$(find-pkg-share autoware_motion_velocity_obstacle_stop_module)/config/obstacle_stop.param.yaml"/>
+    <arg name="motion_velocity_planner_obstacle_slow_down_module_param_path" value="$(find-pkg-share autoware_motion_velocity_obstacle_slow_down_module)/config/obstacle_slow_down.param.yaml"/>
+    <arg name="motion_velocity_planner_obstacle_cruise_module_param_path" value="$(find-pkg-share autoware_motion_velocity_obstacle_cruise_module)/config/obstacle_cruise.param.yaml"/>
     <arg name="motion_velocity_planner_dynamic_obstacle_stop_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml"/>
     <arg name="motion_velocity_planner_out_of_lane_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/out_of_lane.param.yaml"/>
     <arg name="motion_velocity_planner_obstacle_velocity_limiter_param_path" value="$(var motion_config_path)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml"/>