feat: change external lane change rtc name (autowarefoundation#3259)

* feat: change external lane change rtc name Signed-off-by: Takayuki Murooka <[email protected]> * update config Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
ktro2828 · Apr 7, 2023 · f41e24b · f41e24b
1 parent 1250db0
commit f41e24b
Show file tree

Hide file tree

Showing 6 changed files with 18 additions and 18 deletions.
diff --git a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp
@@ -46,10 +46,10 @@ std::string getModuleName(const uint8_t module_type)
       return "lane_change_right";
     }
     case Module::EXT_REQUEST_LANE_CHANGE_LEFT: {
-      return "ext_request_lane_change_left";
+      return "external_request_lane_change_left";
     }
     case Module::EXT_REQUEST_LANE_CHANGE_RIGHT: {
-      return "ext_request_lane_change_right";
+      return "external_request_lane_change_right";
     }
     case Module::AVOIDANCE_BY_LC_LEFT: {
       return "avoidance_by_lane_change_left";

diff --git a/planning/behavior_path_planner/config/scene_module_manager.param.yaml b/planning/behavior_path_planner/config/scene_module_manager.param.yaml
@@ -3,13 +3,13 @@
 # NOTE: The smaller the priority number is, the higher the module priority is.
 /**:
   ros__parameters:
-    ext_request_lane_change_left:
+    external_request_lane_change_left:
       enable_module: false
       enable_simultaneous_execution: false
       priority: 6
       max_module_size: 1
 
-    ext_request_lane_change_right:
+    external_request_lane_change_right:
       enable_module: false
       enable_simultaneous_execution: false
       priority: 6

diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -159,15 +159,15 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
         "ExternalRequestLaneChangeRight", *this, lane_change_param_ptr_);
     path_candidate_publishers_.emplace(
       "ExternalRequestLaneChangeRight",
-      create_publisher<Path>(path_candidate_name_space + "ext_request_lane_change_right", 1));
+      create_publisher<Path>(path_candidate_name_space + "external_request_lane_change_right", 1));
     bt_manager_->registerSceneModule(ext_request_lane_change_right_module);
 
     auto ext_request_lane_change_left_module =
       std::make_shared<ExternalRequestLaneChangeLeftModule>(
         "ExternalRequestLaneChangeLeft", *this, lane_change_param_ptr_);
     path_candidate_publishers_.emplace(
       "ExternalRequestLaneChangeLeft",
-      create_publisher<Path>(path_candidate_name_space + "ext_request_lane_change_left", 1));
+      create_publisher<Path>(path_candidate_name_space + "external_request_lane_change_left", 1));
     bt_manager_->registerSceneModule(ext_request_lane_change_left_module);
 
     auto lane_change_module =
@@ -258,15 +258,15 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
     }
 
     if (p.config_ext_request_lane_change_right.enable_module) {
-      const std::string module_topic = "ext_request_lane_change_right";
+      const std::string module_topic = "external_request_lane_change_right";
       auto manager = std::make_shared<LaneChangeModuleManager>(
         this, module_topic, p.config_ext_request_lane_change_right, lane_change_param_ptr_,
         route_handler::Direction::RIGHT, LaneChangeModuleType::EXTERNAL_REQUEST);
       register_and_create_publisher(manager);
     }
 
     if (p.config_ext_request_lane_change_left.enable_module) {
-      const std::string module_topic = "ext_request_lane_change_left";
+      const std::string module_topic = "external_request_lane_change_left";
       auto manager = std::make_shared<LaneChangeModuleManager>(
         this, module_topic, p.config_ext_request_lane_change_left, lane_change_param_ptr_,
         route_handler::Direction::LEFT, LaneChangeModuleType::EXTERNAL_REQUEST);
@@ -360,7 +360,7 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam()
   }
 
   {
-    const std::string ns = "ext_request_lane_change_right.";
+    const std::string ns = "external_request_lane_change_right.";
     p.config_ext_request_lane_change_right.enable_module =
       declare_parameter<bool>(ns + "enable_module");
     p.config_ext_request_lane_change_right.enable_simultaneous_execution =
@@ -371,7 +371,7 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam()
   }
 
   {
-    const std::string ns = "ext_request_lane_change_left.";
+    const std::string ns = "external_request_lane_change_left.";
     p.config_ext_request_lane_change_left.enable_module =
       declare_parameter<bool>(ns + "enable_module");
     p.config_ext_request_lane_change_left.enable_simultaneous_execution =

diff --git a/planning/rtc_auto_mode_manager/config/rtc_auto_mode_manager.param.yaml b/planning/rtc_auto_mode_manager/config/rtc_auto_mode_manager.param.yaml
@@ -7,8 +7,8 @@
       - "intersection"
       - "no_stopping_area"
       - "traffic_light"
-      - "ext_request_lane_change_left"
-      - "ext_request_lane_change_right"
+      - "external_request_lane_change_left"
+      - "external_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"
@@ -23,8 +23,8 @@
       - "intersection"
       - "no_stopping_area"
       - "traffic_light"
-      - "ext_request_lane_change_left"
-      - "ext_request_lane_change_right"
+      - "external_request_lane_change_left"
+      - "external_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"

diff --git a/planning/rtc_auto_mode_manager/src/rtc_auto_mode_manager_interface.cpp b/planning/rtc_auto_mode_manager/src/rtc_auto_mode_manager_interface.cpp
@@ -35,9 +35,9 @@ Module getModuleType(const std::string & module_name)
     module.type = Module::TRAFFIC_LIGHT;
   } else if (module_name == "virtual_traffic_light") {
     module.type = Module::TRAFFIC_LIGHT;
-  } else if (module_name == "ext_request_lane_change_left") {
+  } else if (module_name == "external_request_lane_change_left") {
     module.type = Module::EXT_REQUEST_LANE_CHANGE_LEFT;
-  } else if (module_name == "ext_request_lane_change_right") {
+  } else if (module_name == "external_request_lane_change_right") {
     module.type = Module::EXT_REQUEST_LANE_CHANGE_RIGHT;
   } else if (module_name == "lane_change_left") {
     module.type = Module::LANE_CHANGE_LEFT;

diff --git a/planning/rtc_interface/src/rtc_interface.cpp b/planning/rtc_interface/src/rtc_interface.cpp
@@ -52,9 +52,9 @@ Module getModuleType(const std::string & module_name)
     module.type = Module::LANE_CHANGE_LEFT;
   } else if (module_name == "lane_change_right") {
     module.type = Module::LANE_CHANGE_RIGHT;
-  } else if (module_name == "ext_request_lane_change_left") {
+  } else if (module_name == "external_request_lane_change_left") {
     module.type = Module::EXT_REQUEST_LANE_CHANGE_LEFT;
-  } else if (module_name == "ext_request_lane_change_right") {
+  } else if (module_name == "external_request_lane_change_right") {
     module.type = Module::EXT_REQUEST_LANE_CHANGE_RIGHT;
   } else if (module_name == "avoidance_left") {
     module.type = Module::AVOIDANCE_LEFT;