From 096acd81328763243f5acbb19636af4d09b673d2 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Wed, 8 Nov 2023 09:11:27 +0900 Subject: [PATCH] fixup! refactor(launch): add new option to select planning preset --- .../planning/preset/default_preset.yaml | 124 +++++++++++------- .../scene_module_manager.param.yaml | 10 -- .../tier4_planning_component.launch.xml | 79 +++++++++++ 3 files changed, 157 insertions(+), 56 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index c713ad0488..95327d14c5 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -1,59 +1,90 @@ launch: - # - arg: - # name: behavior_path_planner_launch_modules - # default: "[behavior_path_planner::Avoidance, - # behavior_path_planner::AvoidanceByLaneChange, - # behavior_path_planner::DynamicAvoidance, - # behavior_path_planner::LaneChange, - # behavior_path_planner::ExternalLaneChange, - # behavior_path_planner::StartPlanner, - # behavior_path_planner::GoalPlanner, - # behavior_path_planner::SideShift]" - # # option: behavior_path_planner::Avoidance - # # behavior_path_planner::AvoidanceByLaneChange - # # behavior_path_planner::DynamicAvoidance - # # behavior_path_planner::LaneChange - # # behavior_path_planner::ExternalLaneChange - # # behavior_path_planner::StartPlanner - # # behavior_path_planner::GoalPlanner - # # behavior_path_planner::SideShift" - + # behavior path modules + - arg: + name: launch_avoidance_module + default: "true" + - arg: + name: launch_avoidance_by_lane_change_module + default: "true" + - arg: + name: launch_dynamic_avoidance_module + default: "false" + - arg: + name: launch_lane_change_right_module + default: "true" + - arg: + name: launch_lane_change_left_module + default: "true" + - arg: + name: launch_external_request_lane_change_right_module + default: "false" - arg: - name: behavior_velocity_planner_launch_modules - default: "[behavior_velocity_planner::CrosswalkModulePlugin, - behavior_velocity_planner::WalkwayModulePlugin, - behavior_velocity_planner::TrafficLightModulePlugin, - behavior_velocity_planner::IntersectionModulePlugin, - behavior_velocity_planner::MergeFromPrivateModulePlugin, - behavior_velocity_planner::BlindSpotModulePlugin, - behavior_velocity_planner::DetectionAreaModulePlugin, - behavior_velocity_planner::NoStoppingAreaModulePlugin, - behavior_velocity_planner::StopLineModulePlugin, - behavior_velocity_planner::OutOfLaneModulePlugin]" - # option: behavior_velocity_planner::CrosswalkModulePlugin - # behavior_velocity_planner::WalkwayModulePlugin - # behavior_velocity_planner::TrafficLightModulePlugin - # behavior_velocity_planner::IntersectionModulePlugin - # behavior_velocity_planner::MergeFromPrivateModulePlugin - # behavior_velocity_planner::BlindSpotModulePlugin - # behavior_velocity_planner::DetectionAreaModulePlugin - # behavior_velocity_planner::VirtualTrafficLightModulePlugin - # behavior_velocity_planner::NoStoppingAreaModulePlugin - # behavior_velocity_planner::StopLineModulePlugin - # behavior_velocity_planner::OcclusionSpotModulePlugin - # behavior_velocity_planner::RunOutModulePlugin - # behavior_velocity_planner::SpeedBumpModulePlugin - # behavior_velocity_planner::OutOfLaneModulePlugin - # behavior_velocity_planner::NoDrivableLaneModulePlugin" + name: launch_external_request_lane_change_left_module + default: "false" + - arg: + name: launch_goal_planner_module + default: "true" + - arg: + name: launch_start_planner_module + default: "true" + - arg: + name: launch_side_shift_module + default: "true" + # behavior velocity modules + - arg: + name: launch_crosswalk_module + default: "true" + - arg: + name: launch_walkway_module + default: "true" + - arg: + name: launch_traffic_light_module + default: "true" + - arg: + name: launch_intersection_module + default: "true" + - arg: + name: launch_merge_from_private_module + default: "true" + - arg: + name: launch_blind_spot_module + default: "true" + - arg: + name: launch_detection_area_module + default: "true" + - arg: + name: launch_virtual_traffic_light_module + default: "false" + - arg: + name: launch_no_stopping_area_module + default: "true" + - arg: + name: launch_stop_line_module + default: "true" + - arg: + name: launch_occlusion_spot_module + default: "false" + - arg: + name: launch_run_out_module + default: "false" + - arg: + name: launch_speed_bump_module + default: "false" + - arg: + name: launch_out_of_lane_module + default: "true" + - arg: + name: launch_no_drivable_lane_module + default: "false" - arg: name: use_experimental_lane_change_function default: "true" - - arg: name: launch_surround_obstacle_checker default: "true" + # motion planning modules - arg: name: motion_path_smoother_type default: elastic_band @@ -82,6 +113,7 @@ launch: # Linf(Unstable) # Analytical + # parking modules - arg: name: launch_parking_module default: "true" diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 1fc83edd08..0090a29926 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -4,7 +4,6 @@ /**: ros__parameters: external_request_lane_change_left: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true @@ -13,7 +12,6 @@ max_module_size: 1 external_request_lane_change_right: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true @@ -22,7 +20,6 @@ max_module_size: 1 lane_change_left: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true @@ -31,7 +28,6 @@ max_module_size: 1 lane_change_right: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true @@ -40,7 +36,6 @@ max_module_size: 1 start_planner: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false @@ -49,7 +44,6 @@ max_module_size: 1 side_shift: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -58,7 +52,6 @@ max_module_size: 1 goal_planner: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -67,7 +60,6 @@ max_module_size: 1 avoidance: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false @@ -76,7 +68,6 @@ max_module_size: 1 avoidance_by_lc: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -85,7 +76,6 @@ max_module_size: 1 dynamic_avoidance: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 5fb17541cd..be3ca44120 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -4,6 +4,85 @@ + + + + + + + + + + + + + + + + + + +