fix(behavior_path_planner): remove unnecessary publisher and subscrib…

…er (#1371) * fix(behavior_path_planner): remove unnecessary publisher and subscriber Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(tier4_planning_launch): fix launch file Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(tier4_planning_launch): fix xml file Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
tier4 · Oct 14, 2022 · 87c2bb0 · 87c2bb0
1 parent c3e47c7
commit 87c2bb0
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diff --git a/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -17,7 +17,6 @@
 from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
-from launch.actions import ExecuteProcess
 from launch.actions import GroupAction
 from launch.actions import IncludeLaunchDescription
 from launch.actions import OpaqueFunction
@@ -142,32 +141,7 @@ def launch_setup(context, *args, **kwargs):
             ("~/input/perception", "/perception/object_recognition/objects"),
             ("~/input/odometry", "/localization/kinematic_state"),
             ("~/input/scenario", "/planning/scenario_planning/scenario"),
-            (
-                "~/input/external_approval",
-                "/planning/scenario_planning/lane_driving/behavior_planning/"
-                "behavior_path_planner/path_change_approval",
-            ),
-            (
-                "~/input/force_approval",
-                "/planning/scenario_planning/lane_driving/behavior_planning/"
-                "behavior_path_planner/path_change_force",
-            ),
             ("~/output/path", "path_with_lane_id"),
-            (
-                "~/output/ready",
-                "/planning/scenario_planning/lane_driving/behavior_planning/"
-                "behavior_path_planner/ready_module",
-            ),
-            (
-                "~/output/running",
-                "/planning/scenario_planning/lane_driving/behavior_planning/"
-                "behavior_path_planner/running_modules",
-            ),
-            (
-                "~/output/force_available",
-                "/planning/scenario_planning/lane_driving/behavior_planning/"
-                "behavior_path_planner/force_available",
-            ),
             ("~/output/turn_indicators_cmd", "/planning/turn_indicators_cmd"),
             ("~/output/hazard_lights_cmd", "/planning/hazard_lights_cmd"),
         ],
@@ -465,19 +439,6 @@ def launch_setup(context, *args, **kwargs):
         [
             container,
             load_compare_map,
-            ExecuteProcess(
-                cmd=[
-                    "ros2",
-                    "topic",
-                    "pub",
-                    "/planning/scenario_planning/lane_driving/behavior_planning/"
-                    "behavior_path_planner/path_change_approval",
-                    "tier4_planning_msgs/msg/Approval",
-                    "{approval: true}",
-                    "-r",
-                    "10",
-                ]
-            ),
         ]
     )
 

diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -3,22 +3,12 @@
   <arg name="map_topic_name" default="/map/vector_map"/>
   <arg name="vehicle_info_param_file"/>
 
-  <executable
-    cmd="ros2 topic pub /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_approval
-                   tier4_planning_msgs/msg/Approval 'approval: true' -r 10"
-  />
-
   <node pkg="behavior_path_planner" exec="behavior_path_planner" name="behavior_path_planner" output="screen">
     <remap from="~/input/route" to="$(var input_route_topic_name)"/>
     <remap from="~/input/vector_map" to="$(var map_topic_name)"/>
     <remap from="~/input/perception" to="/perception/object_recognition/objects"/>
     <remap from="~/input/odometry" to="/localization/kinematic_state"/>
-    <remap from="~/input/external_approval" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_approval"/>
-    <remap from="~/input/force_approval" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_force"/>
     <remap from="~/output/path" to="path_with_lane_id"/>
-    <remap from="~/output/ready" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/ready_module"/>
-    <remap from="~/output/running" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/running_modules"/>
-    <remap from="~/output/force_available" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/force_available"/>
     <remap from="~/output/turn_indicators_cmd" to="/planning/turn_signal_cmd"/>
     <remap from="~/output/hazard_lights_cmd" to="/planning/hazard_signal_cmd"/>
     <param from="$(find-pkg-share tier4_planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml"/>

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
@@ -76,13 +76,8 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   rclcpp::Subscription<Scenario>::SharedPtr scenario_subscriber_;
   rclcpp::Subscription<PredictedObjects>::SharedPtr perception_subscriber_;
   rclcpp::Subscription<OccupancyGrid>::SharedPtr occupancy_grid_subscriber_;
-  rclcpp::Subscription<ApprovalMsg>::SharedPtr external_approval_subscriber_;
-  rclcpp::Subscription<PathChangeModule>::SharedPtr force_approval_subscriber_;
   rclcpp::Publisher<PathWithLaneId>::SharedPtr path_publisher_;
   rclcpp::Publisher<Path>::SharedPtr path_candidate_publisher_;
-  rclcpp::Publisher<PathChangeModuleArray>::SharedPtr force_available_publisher_;
-  rclcpp::Publisher<PathChangeModule>::SharedPtr plan_ready_publisher_;
-  rclcpp::Publisher<PathChangeModuleArray>::SharedPtr plan_running_publisher_;
   rclcpp::Publisher<TurnIndicatorsCommand>::SharedPtr turn_signal_publisher_;
   rclcpp::Publisher<HazardLightsCommand>::SharedPtr hazard_signal_publisher_;
   rclcpp::TimerBase::SharedPtr timer_;
@@ -92,10 +87,6 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   tier4_autoware_utils::SelfPoseListener self_pose_listener_{this};
   Scenario::SharedPtr current_scenario_{nullptr};
 
-  std::string prev_ready_module_name_ = "NONE";
-  PathChangeModule ready_module_{};
-  PathChangeModuleArray running_modules_{};
-
   TurnSignalDecider turn_signal_decider_;
 
   std::mutex mutex_pd_;  // mutex for planner_data_

diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -70,12 +70,6 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
   debug_avoidance_msg_array_publisher_ =
     create_publisher<AvoidanceDebugMsgArray>("~/debug/avoidance_debug_message_array", 1);
 
-  // For remote operation
-  plan_ready_publisher_ = create_publisher<PathChangeModule>("~/output/ready", 1);
-  plan_running_publisher_ = create_publisher<PathChangeModuleArray>("~/output/running", 1);
-  force_available_publisher_ =
-    create_publisher<PathChangeModuleArray>("~/output/force_available", 1);
-
   // Debug
   debug_marker_publisher_ = create_publisher<MarkerArray>("~/debug/markers", 1);
 
@@ -102,13 +96,6 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
       current_scenario_ = std::make_shared<Scenario>(*msg);
     },
     createSubscriptionOptions(this));
-  external_approval_subscriber_ = create_subscription<ApprovalMsg>(
-    "~/input/external_approval", 1,
-    std::bind(&BehaviorPathPlannerNode::onExternalApproval, this, _1),
-    createSubscriptionOptions(this));
-  force_approval_subscriber_ = create_subscription<PathChangeModule>(
-    "~/input/force_approval", 1, std::bind(&BehaviorPathPlannerNode::onForceApproval, this, _1),
-    createSubscriptionOptions(this));
 
   // route_handler
   auto qos_transient_local = rclcpp::QoS{1}.transient_local();