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[DEBUG] run bvp in gdb+konsole
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Signed-off-by: Maxime CLEMENT <[email protected]>
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@maxime-clem
maxime-clem committed Oct 2, 2024
1 parent 4535f8b commit e2f1297
Showing 1 changed file with 44 additions and 46 deletions.
90 changes: 44 additions & 46 deletions ...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
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Expand Up @@ -208,55 +208,53 @@
<extra_arg name="use_intra_process_comms" value="false"/>
</composable_node>

<composable_node pkg="autoware_behavior_velocity_planner" plugin="autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
<!-- topic remap -->
<remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
<remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
<remap from="~/input/vehicle_odometry" to="/localization/kinematic_state"/>
<remap from="~/input/accel" to="/localization/acceleration"/>
<remap from="~/input/dynamic_objects" to="/perception/object_recognition/objects"/>
<remap from="~/input/no_ground_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
<remap from="~/input/compare_map_filtered_pointcloud" to="compare_map_filtered/pointcloud"/>
<remap from="~/input/vector_map_inside_area_filtered_pointcloud" to="vector_map_inside_area_filtered/pointcloud"/>
<remap from="~/input/external_velocity_limit_mps" to="/planning/scenario_planning/max_velocity_default"/>
<remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
<remap from="~/input/virtual_traffic_light_states" to="$(var input_virtual_traffic_light_topic_name)"/>
<remap from="~/input/occupancy_grid" to="/perception/occupancy_grid_map/map"/>
<remap from="~/output/path" to="path"/>
<remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
<remap from="~/output/infrastructure_commands" to="/planning/scenario_planning/status/infrastructure_commands"/>
<remap from="~/output/traffic_signal" to="debug/traffic_signal"/>
<!-- params -->
<param from="$(var common_param_path)"/>
<param from="$(var vehicle_param_file)"/>
<param from="$(var nearest_search_param_path)"/>
<param from="$(var velocity_smoother_param_path)"/>
<param from="$(var behavior_velocity_smoother_type_param_path)"/>
<param from="$(var behavior_velocity_planner_common_param_path)"/>
<param name="launch_modules" value="$(var behavior_velocity_planner_launch_modules)"/>
<param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
<param name="is_simulation" value="$(var is_simulation)"/>
<!-- <param from="$(var template_param_path)"/> -->
<param from="$(var behavior_velocity_planner_blind_spot_module_param_path)"/>
<param from="$(var behavior_velocity_planner_crosswalk_module_param_path)"/>
<param from="$(var behavior_velocity_planner_walkway_module_param_path)"/>
<param from="$(var behavior_velocity_planner_detection_area_module_param_path)"/>
<param from="$(var behavior_velocity_planner_intersection_module_param_path)"/>
<param from="$(var behavior_velocity_planner_stop_line_module_param_path)"/>
<param from="$(var behavior_velocity_planner_traffic_light_module_param_path)"/>
<param from="$(var behavior_velocity_planner_virtual_traffic_light_module_param_path)"/>
<param from="$(var behavior_velocity_planner_occlusion_spot_module_param_path)"/>
<param from="$(var behavior_velocity_planner_no_stopping_area_module_param_path)"/>
<param from="$(var behavior_velocity_planner_run_out_module_param_path)"/>
<param from="$(var behavior_velocity_planner_speed_bump_module_param_path)"/>
<param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/>
<!-- composable node config -->
<extra_arg name="use_intra_process_comms" value="false"/>
</composable_node>

<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
</node_container>

<node pkg="autoware_behavior_velocity_planner" exec="autoware_behavior_velocity_planner_node" name="behavior_velocity_planner" namespace="" launch-prefix="konsole -e gdb -ex run --args">

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<!-- topic remap -->
<remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
<remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
<remap from="~/input/vehicle_odometry" to="/localization/kinematic_state"/>
<remap from="~/input/accel" to="/localization/acceleration"/>
<remap from="~/input/dynamic_objects" to="/perception/object_recognition/objects"/>
<remap from="~/input/no_ground_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
<remap from="~/input/compare_map_filtered_pointcloud" to="compare_map_filtered/pointcloud"/>
<remap from="~/input/vector_map_inside_area_filtered_pointcloud" to="vector_map_inside_area_filtered/pointcloud"/>
<remap from="~/input/external_velocity_limit_mps" to="/planning/scenario_planning/max_velocity_default"/>
<remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
<remap from="~/input/virtual_traffic_light_states" to="$(var input_virtual_traffic_light_topic_name)"/>
<remap from="~/input/occupancy_grid" to="/perception/occupancy_grid_map/map"/>
<remap from="~/output/path" to="path"/>
<remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
<remap from="~/output/infrastructure_commands" to="/planning/scenario_planning/status/infrastructure_commands"/>
<remap from="~/output/traffic_signal" to="debug/traffic_signal"/>
<!-- params -->
<param from="$(var common_param_path)"/>
<param from="$(var vehicle_param_file)"/>
<param from="$(var nearest_search_param_path)"/>
<param from="$(var velocity_smoother_param_path)"/>
<param from="$(var behavior_velocity_smoother_type_param_path)"/>
<param from="$(var behavior_velocity_planner_common_param_path)"/>
<param name="launch_modules" value="$(var behavior_velocity_planner_launch_modules)"/>
<param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
<param name="is_simulation" value="$(var is_simulation)"/>
<!-- <param from="$(var template_param_path)"/> -->
<param from="$(var behavior_velocity_planner_blind_spot_module_param_path)"/>
<param from="$(var behavior_velocity_planner_crosswalk_module_param_path)"/>
<param from="$(var behavior_velocity_planner_walkway_module_param_path)"/>
<param from="$(var behavior_velocity_planner_detection_area_module_param_path)"/>
<param from="$(var behavior_velocity_planner_intersection_module_param_path)"/>
<param from="$(var behavior_velocity_planner_stop_line_module_param_path)"/>
<param from="$(var behavior_velocity_planner_traffic_light_module_param_path)"/>
<param from="$(var behavior_velocity_planner_virtual_traffic_light_module_param_path)"/>
<param from="$(var behavior_velocity_planner_occlusion_spot_module_param_path)"/>
<param from="$(var behavior_velocity_planner_no_stopping_area_module_param_path)"/>
<param from="$(var behavior_velocity_planner_run_out_module_param_path)"/>
<param from="$(var behavior_velocity_planner_speed_bump_module_param_path)"/>
<param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/>
</node>

<group if="$(var launch_compare_map_pipeline)">
<!-- use pointcloud container -->
<load_composable_node target="$(var pointcloud_container_name)">
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