From 5fc1994ca0c91b57fbab711f122e3d31d994c8a2 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 7 Jun 2023 20:48:13 +0900 Subject: [PATCH 1/4] refactor(start_planner): rename pull out to start planner (#386) Signed-off-by: kosuke55 --- .../behavior_path_planner_tree.xml | 8 ++++---- ...ior_path_planner_tree_lane_change_only.xml | 8 ++++---- .../behavior_path_planner_tree_pull_out.xml | 12 +++++------ ..._planner_tree_with_external_request_LC.xml | 8 ++++---- .../scene_module_manager.param.yaml | 2 +- .../start_planner.param.yaml} | 2 +- .../rtc_auto_mode_manager.param.yaml | 4 ++-- .../tier4_planning_component.launch.xml | 2 +- autoware_launch/rviz/autoware.rviz | 20 +++++++++---------- 9 files changed, 33 insertions(+), 33 deletions(-) rename autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/{pull_out/pull_out.param.yaml => start_planner/start_planner.param.yaml} (98%) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml index 4d8f1af9fa..e6c7f6cc24 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml @@ -8,8 +8,8 @@ - - + + @@ -70,10 +70,10 @@ desc - + - + desc diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml index 65c600d246..8988dd41b5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml @@ -8,8 +8,8 @@ - - + + @@ -62,10 +62,10 @@ desc - + - + desc diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml index 70d6b37cb6..32f30af69a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml @@ -9,9 +9,9 @@ - - - + + + @@ -73,11 +73,11 @@ - + - - + + desc diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml index 80fe7ea8da..0410f775f7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml @@ -8,8 +8,8 @@ - - + + @@ -57,10 +57,10 @@ desc - + - + desc diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 76ae718c01..e52aebec9d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -31,7 +31,7 @@ priority: 6 max_module_size: 1 - pull_out: + start_planner: enable_module: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml similarity index 98% rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index bd1ccd2065..0d8782cb50 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - pull_out: + start_planner: th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 1.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml index 2e53b5d246..0aa3cbd49e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml @@ -12,7 +12,7 @@ - "avoidance_left" - "avoidance_right" - "goal_planner" - - "pull_out" + - "start_planner" - "intersection_occlusion" default_enable_list: @@ -27,5 +27,5 @@ - "avoidance_left" - "avoidance_right" - "goal_planner" - - "pull_out" + - "start_planner" - "intersection_occlusion" diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index fc868add66..47d22dc8d1 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -38,7 +38,7 @@ - + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index a3db702f99..3d922b9c8a 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1131,13 +1131,13 @@ Visualization Manager: - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: false - Name: PathReference_PullOut + Name: PathReference_StartPlanner Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/path_reference/pull_out + Value: /planning/path_reference/start_planner Value: true View Path: Alpha: 0.3 @@ -1315,13 +1315,13 @@ Visualization Manager: - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true - Name: PathChangeCandidate_PullOut + Name: PathChangeCandidate_StartPlanner Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/path_candidate/pull_out + Value: /planning/path_candidate/start_planner Value: true View Path: Alpha: 0.30000001192092896 @@ -1460,7 +1460,7 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (PullOut) + Name: VirtualWall (StartPlanner) Namespaces: {} Topic: @@ -1468,7 +1468,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/pull_out + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/start_planner Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -1863,7 +1863,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: PullOut + Name: StartPlanner Namespaces: {} Topic: @@ -1871,7 +1871,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/pull_out + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false @@ -2028,7 +2028,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Info (PullOut) + Name: Info (StartPlanner) Namespaces: {} Topic: @@ -2036,7 +2036,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_out + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/start_planner Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false From c6108a23bc3069ead5c59d323f38b93060863858 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 7 Jun 2023 21:40:45 +0900 Subject: [PATCH 2/4] refactor(behavior_velocity_planner): update launch and parameter files for plugin (#369) * feat: update parameter files Signed-off-by: Takagi, Isamu * feat: update param name Signed-off-by: Takagi, Isamu * feat: add disabled module as comment Signed-off-by: Takagi, Isamu * feat: use behavior_velocity_config_path Signed-off-by: Takagi, Isamu --------- Signed-off-by: Takagi, Isamu --- .../behavior_velocity_planner.param.yaml | 28 ++++++++++--------- .../tier4_planning_component.launch.xml | 28 +++++++++---------- 2 files changed, 28 insertions(+), 28 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index bbd7cd9592..1b71b3e7e2 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -1,18 +1,5 @@ /**: ros__parameters: - launch_stop_line: true - launch_crosswalk: true - launch_traffic_light: true - launch_intersection: true - launch_blind_spot: true - launch_detection_area: true - launch_virtual_traffic_light: false # disabled by default to not confuse newcomers - launch_occlusion_spot: false - launch_no_stopping_area: true - launch_run_out: false - launch_speed_bump: false - launch_out_of_lane: true - launch_no_drivable_lane: false forward_path_length: 1000.0 backward_path_length: 5.0 stop_line_extend_length: 5.0 @@ -21,3 +8,18 @@ system_delay: 0.5 delay_response_time: 0.5 is_publish_debug_path: false # publish all debug path with lane id in each module + launch_modules: + - behavior_velocity_planner::CrosswalkModulePlugin + - behavior_velocity_planner::WalkwayModulePlugin + - behavior_velocity_planner::TrafficLightModulePlugin + - behavior_velocity_planner::IntersectionModulePlugin # Intersection module should be before merge from private to declare intersection parameters. + - behavior_velocity_planner::MergeFromPrivateModulePlugin + - behavior_velocity_planner::BlindSpotModulePlugin + - behavior_velocity_planner::DetectionAreaModulePlugin + # behavior_velocity_planner::VirtualTrafficLightModulePlugin + - behavior_velocity_planner::NoStoppingAreaModulePlugin # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom. + - behavior_velocity_planner::StopLineModulePlugin # Permanent stop line module should be after no stopping area + # behavior_velocity_planner::OcclusionSpotModulePlugin + # behavior_velocity_planner::RunOutModulePlugin + # behavior_velocity_planner::SpeedBumpModulePlugin + - behavior_velocity_planner::OutOfLaneModulePlugin diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 47d22dc8d1..199c10cb02 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -45,21 +45,19 @@ - - - - - - - - - - - - - - - + + + From 4fb3a4cf21b25eff48102ba2e3ee883dcaeaeb7f Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 8 Jun 2023 05:27:12 +0900 Subject: [PATCH 3/4] refactor(behavior_velocity_planner): load all module parameters (#389) load all module parameters Signed-off-by: Takagi, Isamu --- .../behavior_velocity_planner.param.yaml | 1 + .../launch/components/tier4_planning_component.launch.xml | 7 ++++++- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index 1b71b3e7e2..7a0ef047f7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -23,3 +23,4 @@ # behavior_velocity_planner::RunOutModulePlugin # behavior_velocity_planner::SpeedBumpModulePlugin - behavior_velocity_planner::OutOfLaneModulePlugin + # behavior_velocity_planner::NoDrivableLaneModulePlugin diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 199c10cb02..6055b14e48 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -55,8 +55,13 @@ $(var behavior_velocity_config_path)/intersection.param.yaml, $(var behavior_velocity_config_path)/stop_line.param.yaml, $(var behavior_velocity_config_path)/traffic_light.param.yaml, + $(var behavior_velocity_config_path)/virtual_traffic_light.param.yaml, + $(var behavior_velocity_config_path)/occlusion_spot.param.yaml, $(var behavior_velocity_config_path)/no_stopping_area.param.yaml, - $(var behavior_velocity_config_path)/out_of_lane.param.yaml]" + $(var behavior_velocity_config_path)/run_out.param.yaml, + $(var behavior_velocity_config_path)/speed_bump.param.yaml, + $(var behavior_velocity_config_path)/out_of_lane.param.yaml, + $(var behavior_velocity_config_path)/no_drivable_lane.param.yaml]" /> From 65884add50a684ddf8674e6e065ea5eb97888f81 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 8 Jun 2023 09:40:38 +0900 Subject: [PATCH 4/4] feat(behavior_path_planner): add flag to enable auto mode without rtc_auto_mode_manager (#387) * add param Signed-off-by: kyoichi-sugahara * enable rtc to false for default auto mode module Signed-off-by: kyoichi-sugahara * update Signed-off-by: kyoichi-sugahara * set avoidance module enable_rtc as false Signed-off-by: kyoichi-sugahara * set all module enable_rtc param as true Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../scene_module_manager.param.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index e52aebec9d..d4da549dcd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -5,6 +5,7 @@ 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 @@ -12,6 +13,7 @@ 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 @@ -19,6 +21,7 @@ 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 @@ -26,6 +29,7 @@ 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 @@ -33,6 +37,7 @@ start_planner: enable_module: true + enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false priority: 0 @@ -40,6 +45,7 @@ side_shift: enable_module: true + enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false priority: 2 @@ -47,6 +53,7 @@ goal_planner: enable_module: true + enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false priority: 1 @@ -54,6 +61,7 @@ avoidance: enable_module: true + enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false priority: 5 @@ -62,6 +70,7 @@ # 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 @@ -69,6 +78,7 @@ dynamic_avoidance: enable_module: false + enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true priority: 3