feat: enable avoidance_by_lc (autowarefoundation#633)

Signed-off-by: tomoya.kimura <[email protected]>
maxime-clem · Oct 27, 2023 · 7232a77 · 7232a77
1 parent f8745ee
commit 7232a77
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Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/...riving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/...riving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
@@ -43,7 +43,7 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         unknown:
-          is_target: true
+          is_target: false
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0

diff --git a/.../lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/.../lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
@@ -67,9 +67,8 @@
       priority: 5
       max_module_size: 1
 
-    # NOTE: This module is unstable. Deprecated for now.
     avoidance_by_lc:
-      enable_module: false
+      enable_module: true
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false

diff --git a/...lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml b/...lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml
@@ -10,6 +10,8 @@
       - "lane_change_right"
       - "avoidance_left"
       - "avoidance_right"
+      - "avoidance_by_lane_change_left"
+      - "avoidance_by_lane_change_right"
       - "goal_planner"
       - "start_planner"
       - "intersection_occlusion"