fix rtc paramters

Signed-off-by: Muhammad Zulfaqar <[email protected]>
zulfaqar-azmi-t4 · May 1, 2023 · 16be270 · 16be270
1 parent ac4d78f
commit 16be270
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Showing 6 changed files with 13 additions and 10 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
@@ -52,10 +52,10 @@ std::string getModuleName(const uint8_t module_type)
       return "external_request_lane_change_right";
     }
     case Module::AVOIDANCE_BY_LC_LEFT: {
-      return "avoidance_by_lane_change_left";
+      return "avoidance_by_lane_change";
     }
     case Module::AVOIDANCE_BY_LC_RIGHT: {
-      return "avoidance_by_lane_change_right";
+      return "avoidance_by_lane_change";
     }
     case Module::AVOIDANCE_LEFT: {
       return "avoidance_left";

diff --git a/...ehavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp b/...ehavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp
@@ -123,7 +123,8 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface
     const std::string & name, rclcpp::Node & node,
     const std::shared_ptr<LaneChangeParameters> & parameters,
     const std::shared_ptr<AvoidanceParameters> & avoidance_parameters,
-    const std::shared_ptr<AvoidanceByLCParameters> & avoidance_by_lane_change_parameters);
+    const std::shared_ptr<AvoidanceByLCParameters> & avoidance_by_lane_change_parameters,
+    const std::unordered_map<std::string, std::shared_ptr<RTCInterface> > & rtc_interface_ptr_map);
 
   ModuleStatus updateState() override;
 };

diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp
@@ -321,9 +321,10 @@ AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface(
   const std::string & name, rclcpp::Node & node,
   const std::shared_ptr<LaneChangeParameters> & parameters,
   const std::shared_ptr<AvoidanceParameters> & avoidance_parameters,
-  const std::shared_ptr<AvoidanceByLCParameters> & avoidance_by_lane_change_parameters)
+  const std::shared_ptr<AvoidanceByLCParameters> & avoidance_by_lane_change_parameters,
+  const std::unordered_map<std::string, std::shared_ptr<RTCInterface> > & rtc_interface_ptr_map)
 : LaneChangeInterface{
-    name, node, parameters, createRTCInterfaceMap(node, name, {""}),
+    name, node, parameters, rtc_interface_ptr_map,
     std::make_unique<AvoidanceByLaneChange>(
       parameters, avoidance_parameters, avoidance_by_lane_change_parameters)}
 {

diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
@@ -79,7 +79,8 @@ std::shared_ptr<SceneModuleInterface>
 AvoidanceByLaneChangeModuleManager::createNewSceneModuleInstance()
 {
   return std::make_shared<AvoidanceByLaneChangeInterface>(
-    name_, *node_, parameters_, avoidance_parameters_, avoidance_by_lane_change_parameters_);
+    name_, *node_, parameters_, avoidance_parameters_, avoidance_by_lane_change_parameters_,
+    rtc_interface_ptr_map_);
 }
 
 }  // namespace behavior_path_planner
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
@@ -43,9 +43,9 @@ 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 == "avoidance_by_lane_change_left") {
+  } else if (module_name == "avoidance_by_lane_change") {
     module.type = Module::AVOIDANCE_BY_LC_LEFT;
-  } else if (module_name == "avoidance_by_lane_change_right") {
+  } else if (module_name == "avoidance_by_lane_change") {
     module.type = Module::AVOIDANCE_BY_LC_RIGHT;
   } else if (module_name == "avoidance_left") {
     module.type = Module::AVOIDANCE_LEFT;

diff --git a/planning/rtc_interface/src/rtc_interface.cpp b/planning/rtc_interface/src/rtc_interface.cpp
@@ -56,9 +56,9 @@ Module getModuleType(const std::string & module_name)
     module.type = Module::EXT_REQUEST_LANE_CHANGE_LEFT;
   } else if (module_name == "external_request_lane_change_right") {
     module.type = Module::EXT_REQUEST_LANE_CHANGE_RIGHT;
-  } else if (module_name == "avoidance_by_lane_change_left") {
+  } else if (module_name == "avoidance_by_lane_change") {
     module.type = Module::AVOIDANCE_BY_LC_LEFT;
-  } else if (module_name == "avoidance_by_lane_change_right") {
+  } else if (module_name == "avoidance_by_lane_change") {
     module.type = Module::AVOIDANCE_BY_LC_RIGHT;
   } else if (module_name == "avoidance_left") {
     module.type = Module::AVOIDANCE_LEFT;