feat(behavior_path_planner): external request lane change (autowarefo…

…undation#691) * feat(autoware_launch): visualize multiple candidate paths Signed-off-by: Fumiya Watanabe <[email protected]> * feature(autoware_launch): fix name space in autoware.rviz Signed-off-by: Fumiya Watanabe <[email protected]> * feat(planning_launch) fix params for external request lane change Signed-off-by: Fumiya Watanabe <[email protected]> * fix(autoware.rviz): remove unnecessary configurations Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Fumiya Watanabe <[email protected]>
sykwer · Jan 23, 2023 · 8e63e49 · 8e63e49
1 parent 2792ce1
commit 8e63e49
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Showing 2 changed files with 31 additions and 6 deletions.
diff --git a/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -7,6 +7,8 @@
       - "intersection"
       - "no_stopping_area"
       - "traffic_light"
+      - "ext_request_lane_change_left"
+      - "ext_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1036,13 +1036,13 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true
-                      Name: PathChangeCandidate_Avoidance
+                      Name: PathChangeCandidate_ExternalRequestLaneChangeRight
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_candidate/avoidance
+                        Value: /planning/path_candidate/ext_request_lane_change_right
                       Value: true
                       View Path:
                         Alpha: 0.30000001192092896
@@ -1059,13 +1059,13 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true
-                      Name: PathChangeCandidate_PullOut
+                      Name: PathChangeCandidate_ExternalRequestLaneChangeLeft
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_candidate/pull_out
+                        Value: /planning/path_candidate/ext_request_lane_change_left
                       Value: true
                       View Path:
                         Alpha: 0.30000001192092896
@@ -1082,13 +1082,36 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true
-                      Name: PathChangeCandidate_PullOver
+                      Name: PathChangeCandidate_Avoidance
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_candidate/pull_over
+                        Value: /planning/path_candidate/avoidance
+                      Value: true
+                      View Path:
+                        Alpha: 0.30000001192092896
+                        Color: 115; 210; 22
+                        Constant Color: false
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: true
+                      Name: PathChangeCandidate_PullOut
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_candidate/pull_out
                       Value: true
                       View Path:
                         Alpha: 0.30000001192092896