feat(behavior_path_planner): update behavior param file (#3220)

* feat(behavior_path_planner): add new config file for manger

Signed-off-by: satoshi-ota <[email protected]>

* feat(launch): add config path

Signed-off-by: satoshi-ota <[email protected]>

* fix(behavior_path_planner): add missing param file

Signed-off-by: satoshi-ota <[email protected]>

---------

Signed-off-by: satoshi-ota <[email protected]>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py

@@ -54,6 +54,8 @@ def launch_setup(context, *args, **kwargs):
         pull_out_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     with open(LaunchConfiguration("drivable_area_expansion_param_path").perform(context), "r") as f:
         drivable_area_expansion_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+    with open(LaunchConfiguration("scene_module_manager_param_path").perform(context), "r") as f:
+        scene_module_manager_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     with open(LaunchConfiguration("behavior_path_planner_param_path").perform(context), "r") as f:
         behavior_path_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
@@ -88,6 +90,7 @@ def launch_setup(context, *args, **kwargs):
             pull_over_param,
             pull_out_param,
             drivable_area_expansion_param,
+            scene_module_manager_param,
             behavior_path_planner_param,
             vehicle_param,
             {

planning/behavior_path_planner/config/drivable_area_expansion.param.yaml

@@ -0,0 +1,58 @@
+/**:
+  ros__parameters:
+    # Static expansion
+    avoidance:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    lane_change:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    lane_following:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    pull_out:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    pull_over:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+    side_shift:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+
+    # Dynamic expansion by projecting the ego footprint along the path
+    dynamic_expansion:
+      enabled: false
+      ego:
+        extra_footprint_offset:
+          front: 0.5 # [m] extra length to add to the front of the ego footprint
+          rear: 0.5 # [m] extra length to add to the rear of the ego footprint
+          left: 0.5 # [m] extra length to add to the left of the ego footprint
+          right: 0.5 # [m] extra length to add to the rear of the ego footprint
+      dynamic_objects:
+        avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects
+        extra_footprint_offset:
+          front: 0.5 # [m] extra length to add to the front of the dynamic object footprint
+          rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
+          left: 0.5 # [m] extra length to add to the left of the dynamic object footprint
+          right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
+      expansion:
+        method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'.
+                         # 'lanelet': add lanelets overlapped by the ego footprints
+                         # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area
+        max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
+        max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
+        extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint
+      avoid_linestring:
+        types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area
+          - road_border
+        distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid
+        compensate:
+          enable: true  # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction
+          extra_distance: 3.0 # [m] extra distance to add to the compensation

planning/behavior_path_planner/config/scene_module_manager.param.yaml

@@ -0,0 +1,52 @@
+# USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE.
+# https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt
+# NOTE: The smaller the priority number is, the higher the module priority is.
+/**:
+  ros__parameters:
+    ext_request_lane_change_left:
+      enable_module: false
+      enable_simultaneous_execution: false
+      priority: 6
+      max_module_size: 1
+
+    ext_request_lane_change_right:
+      enable_module: false
+      enable_simultaneous_execution: false
+      priority: 6
+      max_module_size: 1
+
+    lane_change_left:
+      enable_module: true
+      enable_simultaneous_execution: true
+      priority: 5
+      max_module_size: 1
+
+    lane_change_right:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 4
+      max_module_size: 1
+
+    pull_out:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 0
+      max_module_size: 1
+
+    side_shift:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 2
+      max_module_size: 1
+
+    pull_over:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 1
+      max_module_size: 1
+
+    avoidance:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 3
+      max_module_size: 1