From daecc232e9015b0ac400e2b76f10022a8669d5f7 Mon Sep 17 00:00:00 2001
From: kosuke55 <kosuke.tnp@gmail.com>
Date: Sun, 23 Apr 2023 14:55:08 +0900
Subject: [PATCH] refactor(behavior_path_planenr): renaem pull_over to
 goal_planenr

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 .../behavior_path_planner_tree.xml                   |  8 ++++----
 .../behavior_path_planner_tree_lane_change_only.xml  |  8 ++++----
 .../behavior_path_planner_tree_pull_out.xml          | 12 ++++++------
 ...or_path_planner_tree_with_external_request_LC.xml |  8 ++++----
 .../goal_planner.param.yaml}                         |  2 +-
 .../scene_module_manager.param.yaml                  |  2 +-
 .../rtc_auto_mode_manager.param.yaml                 |  4 ++--
 .../components/tier4_planning_component.launch.xml   |  5 ++++-
 autoware_launch/rviz/autoware.rviz                   | 12 ++++++------
 9 files changed, 32 insertions(+), 29 deletions(-)
 rename autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/{pull_over/pull_over.param.yaml => goal_planner/goal_planner.param.yaml} (99%)

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 748b70b33f..4d8f1af9fa 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
@@ -4,8 +4,8 @@
     <BehaviorTree ID="BehaviorTree">
         <Fallback>
             <ReactiveSequence>
-                <Condition ID="PullOver_Request"/>
-                <Action ID="PullOver_Plan" output="{output}"/>
+                <Condition ID="GoalPlanner_Request"/>
+                <Action ID="GoalPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
                 <Condition ID="PullOut_Request"/>
@@ -74,10 +74,10 @@
             <output_port name="output"/>
         </Action>
         <Condition ID="PullOut_Request"/>
-        <Action ID="PullOver_Plan">
+        <Action ID="GoalPlanner_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
         </Action>
-        <Condition ID="PullOver_Request"/>
+        <Condition ID="GoalPlanner_Request"/>
         <Condition ID="SideShift_CheckApproval"/>
         <Action ID="SideShift_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
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 5c4d2b589d..65c600d246 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
@@ -4,8 +4,8 @@
     <BehaviorTree ID="BehaviorTree">
         <Fallback>
             <ReactiveSequence>
-                <Condition ID="PullOver_Request"/>
-                <Action ID="PullOver_Plan" output="{output}"/>
+                <Condition ID="GoalPlanner_Request"/>
+                <Action ID="GoalPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
                 <Condition ID="PullOut_Request"/>
@@ -66,10 +66,10 @@
             <output_port name="output"/>
         </Action>
         <Condition ID="PullOut_Request"/>
-        <Action ID="PullOver_Plan">
+        <Action ID="GoalPlanner_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
         </Action>
-        <Condition ID="PullOver_Request"/>
+        <Condition ID="GoalPlanner_Request"/>
         <Condition ID="SideShift_CheckApproval"/>
         <Action ID="SideShift_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
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 e5876e9287..70d6b37cb6 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
@@ -4,9 +4,9 @@
     <BehaviorTree ID="BehaviorTree">
         <Fallback>
             <ReactiveSequence>
-                <Condition ID="PullOver_Request"/>
-                <Condition ID="PullOver_Ready"/>
-                <Action ID="PullOver_Plan" output="{output}"/>
+                <Condition ID="GoalPlanner_Request"/>
+                <Condition ID="GoalPlanner_Ready"/>
+                <Action ID="GoalPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
                 <Condition ID="PullOut_Request"/>
@@ -78,11 +78,11 @@
         </Action>
         <Condition ID="PullOut_Ready"/>
         <Condition ID="PullOut_Request"/>
-        <Action ID="PullOver_Plan">
+        <Action ID="GoalPlanner_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
         </Action>
-        <Condition ID="PullOver_Ready"/>
-        <Condition ID="PullOver_Request"/>
+        <Condition ID="GoalPlanner_Ready"/>
+        <Condition ID="GoalPlanner_Request"/>
         <Condition ID="SideShift_CheckApproval"/>
         <Action ID="SideShift_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
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 e848f156a4..80fe7ea8da 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
@@ -4,8 +4,8 @@
     <BehaviorTree ID="BehaviorTree">
         <Fallback>
             <ReactiveSequence>
-                <Condition ID="PullOver_Request"/>
-                <Action ID="PullOver_Plan" output="{output}"/>
+                <Condition ID="GoalPlanner_Request"/>
+                <Action ID="GoalPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
                 <Condition ID="PullOut_Request"/>
@@ -61,10 +61,10 @@
             <output_port name="output"/>
         </Action>
         <Condition ID="PullOut_Request"/>
-        <Action ID="PullOver_Plan">
+        <Action ID="GoalPlanner_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
         </Action>
-        <Condition ID="PullOver_Request"/>
+        <Condition ID="GoalPlanner_Request"/>
         <Action ID="SideShift_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
         </Action>
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
similarity index 99%
rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index f777581150..5a840098e5 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    pull_over:
+    goal_planner:
       minimum_request_length: 100.0
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
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 c62da6ab79..6f10b1290a 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
@@ -45,7 +45,7 @@
       priority: 2
       max_module_size: 1
 
-    pull_over:
+    goal_planner:
       enable_module: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
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 321c59bb50..af82a3461f 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
@@ -13,7 +13,7 @@
       - "lane_change_right"
       - "avoidance_left"
       - "avoidance_right"
-      - "pull_over"
+      - "goal_planner"
       - "pull_out"
       - "intersection_occlusion"
 
@@ -28,6 +28,6 @@
       - "lane_change_right"
       - "avoidance_left"
       - "avoidance_right"
-      - "pull_over"
+      - "goal_planner"
       - "pull_out"
       - "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 ca46c19486..8b523dbf49 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -41,7 +41,10 @@
       name="lane_change_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml"
     />
-    <arg name="pull_over_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml"/>
+    <arg
+      name="goal_planner_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml"
+    />
     <arg name="pull_out_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml"/>
     <arg
       name="drivable_area_expansion_param_path"
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 5ba730c8e2..f5e4a23b68 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1106,13 +1106,13 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: false
-                      Name: PathReference_PullOver
+                      Name: PathReference_Goalplanner
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_reference/pull_over
+                        Value: /planning/path_reference/goal_planner
                       Value: true
                       View Path:
                         Alpha: 0.3
@@ -1336,13 +1336,13 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true
-                      Name: PathChangeCandidate_PullOver
+                      Name: PathChangeCandidate_Goalplanner
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_candidate/pull_over
+                        Value: /planning/path_candidate/goal_planner
                       Value: true
                       View Path:
                         Alpha: 0.30000001192092896
@@ -1715,7 +1715,7 @@ Visualization Manager:
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
-                          Name: PullOver
+                          Name: Goalplanner
                           Namespaces:
                             {}
                           Topic:
@@ -1723,7 +1723,7 @@ 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_over
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false