From 16be270af3225cbe9e826a89b048a6dd044e98b9 Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Date: Fri, 28 Apr 2023 21:06:38 +0900 Subject: [PATCH] fix rtc paramters Signed-off-by: Muhammad Zulfaqar --- common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp | 4 ++-- .../scene_module/lane_change/interface.hpp | 3 ++- .../src/scene_module/lane_change/interface.cpp | 5 +++-- .../src/scene_module/lane_change/manager.cpp | 3 ++- .../src/rtc_auto_mode_manager_interface.cpp | 4 ++-- planning/rtc_interface/src/rtc_interface.cpp | 4 ++-- 6 files changed, 13 insertions(+), 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 index 5e795ae764092..f64834324a31a 100644 --- 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/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp index 180b14a308eff..0ef510076e5bf 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp +++ b/planning/behavior_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 & parameters, const std::shared_ptr & avoidance_parameters, - const std::shared_ptr & avoidance_by_lane_change_parameters); + const std::shared_ptr & avoidance_by_lane_change_parameters, + const std::unordered_map > & 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 index 63f09a9aa8f76..5806642bf6d47 100644 --- 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 & parameters, const std::shared_ptr & avoidance_parameters, - const std::shared_ptr & avoidance_by_lane_change_parameters) + const std::shared_ptr & avoidance_by_lane_change_parameters, + const std::unordered_map > & rtc_interface_ptr_map) : LaneChangeInterface{ - name, node, parameters, createRTCInterfaceMap(node, name, {""}), + name, node, parameters, rtc_interface_ptr_map, std::make_unique( 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 index 727e5fea82901..663de62a06217 100644 --- 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 AvoidanceByLaneChangeModuleManager::createNewSceneModuleInstance() { return std::make_shared( - 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 index 33970700991c7..3615172ba3d51 100644 --- 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 index a06a023671690..d16ff3995fccf 100644 --- 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;