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add launch control page
Signed-off-by: ismetatabay <[email protected]>
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‎docs/how-to-guides/integrating-autoware/launch-autoware/.pages

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- Launch localization: localization
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- Launch perception: perception
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- Launch planning: planning
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- Launch control: control

‎docs/how-to-guides/integrating-autoware/launch-autoware/control/images/control_launch_flow.svg

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‎docs/how-to-guides/integrating-autoware/launch-autoware/control/index.md

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# Control Launch Files
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## Overview
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The Autoware control stacks start
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launching at `autoware_launch.xml` as mentioned on the [Launch Autoware](../index.md) page.
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The `autoware_launch` package includes `tier4_control_component.launch.xml`
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for initiating control launch files invocation from `autoware_launch.xml`.
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The diagram below illustrates the flow of Autoware control launch files within the autoware_launch and autoware.universe packages.
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<figure markdown>
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![control-launch-flow](images/control_launch_flow.svg){ align=center }
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<figcaption>
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Autoware control launch flow diagram
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</figcaption>
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</figure>
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!!! note
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The Autoware project is a large project.
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Therefore, as we manage the Autoware project, we utilize specific
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arguments in the launch files.
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ROS 2 offers an argument-overriding feature for these launch files.
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Please refer to [the official ROS 2 launch documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html#parameter-overrides) for further information.
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For instance,
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if we define an argument at the top-level launch,
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it will override the value on lower-level launches.
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## tier4_control_component.launch.xml
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The tier4_control_component.launch.xml launch file is the main control component launch in the autoware_launch package.
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This launch file calls control.launch.xml from the [tier4_control_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_control_launch) package
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within the autoware.universe repository.
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We can modify control launch arguments in tier4_control_component.launch.xml.
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Additionally,
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we can add any other necessary arguments
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that need adjustment since tier4_control_component.launch.xml serves as the top-level launch file for other control launch files.
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Here are some predefined control launch arguments:
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- **`lateral_controller_mode:`** This argument determines
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the lateral controller algorithm.
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The default value is `mpc`.
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To change it to pure pursuit,
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make the following update in your `tier4_control_component.launch.xml` file:
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```diff
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- <arg name="lateral_controller_mode" default="mpc"/>
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+ <arg name="lateral_controller_mode" default="pure_pursuit"/>
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```
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- **`enable_autonomous_emergency_braking:`** This argument enables autonomous emergency
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braking under specific conditions.
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Please refer to the [Autonomous emergency braking (AEB)](https://autowarefoundation.github.io/autoware.universe/main/control/autonomous_emergency_braking/) page for
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more information.
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To enable it, update the value in the `tier4_control_component.launch.xml` file:
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```diff
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- <arg name="enable_autonomous_emergency_braking" default="false"/>
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+ <arg name="enable_autonomous_emergency_braking" default="true"/>
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```
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- **`enable_predicted_path_checker:`** This argument enables the predicted path checker module.
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Please refer to the [Predicted Path Checker](https://autowarefoundation.github.io/autoware.universe/main/control/predicted_path_checker/) page for
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more information.
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To enable it, update the value in the `tier4_control_component.launch.xml` file:
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```diff
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- <arg name="enable_predicted_path_checker" default="false"/>
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+ <arg name="enable_predicted_path_checker" default="true"/>
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```
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!!! note
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You can also use this arguments as command line arguments:
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```bash
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ros2 launch autoware_launch autoware.launch.xml ... enable_predicted_path_checker:=true lateral_controller_mode:=pure_pursuit ...
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```
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The predefined arguments in tier4_control_component.launch.xml have been explained above.
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However, numerous control arguments are included in the autoware_launch control config parameters.

‎docs/how-to-guides/integrating-autoware/launch-autoware/index.md

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- [Localization](./localization)
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- [Perception](./perception)
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- [Planning](./planning)
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- Control
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- [Control](./control)
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## Pre-requirements of launching Autoware with real vehicle
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‎docs/how-to-guides/integrating-autoware/launch-autoware/planning/index.md

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## Overview
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The Autoware planning stacks start
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launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page.
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launching at `autoware_launch.xml` as mentioned on the [Launch Autoware](../index.md) page.
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The `autoware_launch` package includes `tier4_planning_component.launch.xml`
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for starting planning launch files invocation from `autoware_launch.xml`.
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This diagram describes some of the Autoware planning launch files flow at `autoware_launch` and `autoware.universe` packages.
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for initiating planning launch files invocation from `autoware_launch.xml`.
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The diagram below illustrates the flow of Autoware planning launch files within the autoware_launch and autoware.universe packages.
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<figure markdown>
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![planning-launch-flow](images/planning_launch_flow.svg){ align=center }
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and `use_all_predicted_path` options for Autoware for experimental lane changing
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(for more information, please refer to [lane_change documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design/)).
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The default value is True.
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If you want to set it to False, you can make the change in the
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tier4_planning_component.launch.xml file:
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To set it to False, make the following change in the `tier4_planning_component.launch.xml` file:
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```diff
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- <arg name="use_experimental_lane_change_function" default="true"/>
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- **`cruise_planner_type:`** There are two types of cruise planners in Autoware: [obstacle_stop_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/)
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and [obstacle_cruise_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/). For specifications on these cruise planner types,
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please refer to the package documentation. The default cruise planner is `obstacle_stop_planner`.
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If you wish to change it to `obstacle_cruise_planner`, you can do
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in the `tier4_planning_component`.launch.xml file:
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To change it to obstacle_cruise_planner, update the argument value in the `tier4_planning_component.launch.xml` file:
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```diff
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- <arg name="cruise_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
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ros2 launch autoware_launch autoware.launch.xml ... use_surround_obstacle_check:=false velocity_smoother_type:=L2 ...
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```
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The predefined arguments in `tier4_planning_component.launch.xml`
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have been explained above, but there are numerous planning arguments
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included in the `autoware_launch` planning config parameters.
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The predefined arguments in tier4_planning_component.launch.xml have been explained above.
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However, numerous planning arguments are included in the autoware_launch planning config parameters.

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