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feat(behavior_path_planner): add flag to enable auto mode without rtc_auto_mode_manager #387

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merged 5 commits into from
Jun 8, 2023
Merged

feat(behavior_path_planner): add flag to enable auto mode without rtc_auto_mode_manager #387

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78eaf0f
add param
kyoichi-sugahara Jun 7, 2023
ecbdb21
enable rtc to false for default auto mode module
kyoichi-sugahara Jun 7, 2023
5f6127d
update
kyoichi-sugahara Jun 7, 2023
fe22901
set avoidance module enable_rtc as false
kyoichi-sugahara Jun 8, 2023
fc0978e
set all module enable_rtc param as true
kyoichi-sugahara Jun 8, 2023
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10 changes: 10 additions & 0 deletions ...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,55 +5,63 @@
ros__parameters:
external_request_lane_change_left:
enable_module: false
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
priority: 7
max_module_size: 1

external_request_lane_change_right:
enable_module: false
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
priority: 7
max_module_size: 1

lane_change_left:
enable_module: true
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
priority: 6
max_module_size: 1

lane_change_right:
enable_module: true
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
priority: 6
max_module_size: 1

pull_out:
enable_module: true
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
priority: 0
max_module_size: 1

side_shift:
enable_module: true
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
priority: 2
max_module_size: 1

goal_planner:
enable_module: true
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
priority: 1
max_module_size: 1

avoidance:
enable_module: true
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
priority: 5
Expand All @@ -62,13 +70,15 @@
# NOTE: This module is unstable. Deprecated for now.
avoidance_by_lc:
enable_module: false
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
priority: 4
max_module_size: 1

dynamic_avoidance:
enable_module: false
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
priority: 3
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