refactor(freespace_planning_algorithms): fix declare_parameter functi…

…on's declaration (#4645)

* refactor(freespace_planning_algorithms): delete default values of function declare_parameter

* refactor(freespace_planning_algorithms): fix way to call declare_parameter function and add config repository.

* refactor(freespace_planning_algorithms): fix way to declare declare_parameter function

* fix(freespace_planner): add parameters for RRTStar search algorithm

* style(pre-commit): autofix

* refactor(freespace_planner): undo the change of planning algorithm

---------

Signed-off-by: keiota <k3robot@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>

planning/freespace_planner/config/freespace_planner.param.yaml

@@ -33,3 +33,11 @@
       only_behind_solutions: false
       use_back: true
       distance_heuristic_weight: 1.0
+
+    # -- RRT* search Configurations --
+    rrtstar:
+      enable_update: true
+      use_informed_sampling: true
+      max_planning_time: 150.0
+      neighbor_radius: 8.0
+      margin: 0.1

planning/freespace_planning_algorithms/include/freespace_planning_algorithms/astar_search.hpp

@@ -118,9 +118,9 @@ class AstarSearch : public AbstractPlanningAlgorithm
   : AstarSearch(
       planner_common_param, collision_vehicle_shape,
       AstarParam{
-        node.declare_parameter("astar.only_behind_solutions", false),
-        node.declare_parameter("astar.use_back", true),
-        node.declare_parameter("astar.distance_heuristic_weight", 1.0)})
+        node.declare_parameter<bool>("astar.only_behind_solutions"),
+        node.declare_parameter<bool>("astar.use_back"),
+        node.declare_parameter<double>("astar.distance_heuristic_weight")})
   {
   }
 

planning/freespace_planning_algorithms/include/freespace_planning_algorithms/rrtstar.hpp

@@ -47,11 +47,11 @@ class RRTStar : public AbstractPlanningAlgorithm
   : RRTStar(
       planner_common_param, original_vehicle_shape,
       RRTStarParam{
-        node.declare_parameter("rrtstar.enable_update", true),
-        node.declare_parameter("rrtstar.use_informed_sampling", true),
-        node.declare_parameter("rrtstar.max_planning_time", 150.0),
-        node.declare_parameter("rrtstar.neighbor_radius", 8.0),
-        node.declare_parameter("rrtstar.margin", 0.1)})
+        node.declare_parameter<bool>("rrtstar.enable_update"),
+        node.declare_parameter<bool>("rrtstar.use_informed_sampling"),
+        node.declare_parameter<double>("rrtstar.max_planning_time"),
+        node.declare_parameter<double>("rrtstar.neighbor_radius"),
+        node.declare_parameter<double>("rrtstar.margin")})
   {
   }