feat(tier4_planning_launch): create parameter yaml for behavior_veloc…

…ity_planner (tier4#887) * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * feat: add param.yaml in behavior_velocity_planner package * some fix Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
boyali · Oct 19, 2022 · dbd13f0 · dbd13f0
1 parent 5efb50e
commit dbd13f0
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Showing 3 changed files with 47 additions and 15 deletions.
diff --git a/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -0,0 +1,17 @@
+/**:
+  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: true
+    launch_occlusion_spot: true
+    launch_no_stopping_area: true
+    forward_path_length: 1000.0
+    backward_path_length: 5.0
+    max_accel: -2.8
+    max_jerk: -5.0
+    system_delay: 0.5
+    delay_response_time: 1.3
diff --git a/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -297,6 +297,18 @@ def launch_setup(context, *args, **kwargs):
     with open(no_stopping_area_param_path, "r") as f:
         no_stopping_area_param = yaml.safe_load(f)["/**"]["ros__parameters"]
 
+    behavior_velocity_planner_param_path = os.path.join(
+        get_package_share_directory("tier4_planning_launch"),
+        "config",
+        "scenario_planning",
+        "lane_driving",
+        "behavior_planning",
+        "behavior_velocity_planner",
+        "behavior_velocity_planner.param.yaml",
+    )
+    with open(behavior_velocity_planner_param_path, "r") as f:
+        behavior_velocity_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+
     behavior_velocity_planner_component = ComposableNode(
         package="behavior_velocity_planner",
         plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode",
@@ -333,21 +345,7 @@ def launch_setup(context, *args, **kwargs):
             ("~/output/traffic_signal", "debug/traffic_signal"),
         ],
         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": True,
-                "launch_occlusion_spot": True,
-                "launch_no_stopping_area": True,
-                "forward_path_length": 1000.0,
-                "backward_path_length": 5.0,
-                "max_accel": -2.8,
-                "delay_response_time": 1.3,
-            },
+            behavior_velocity_planner_param,
             blind_spot_param,
             crosswalk_param,
             detection_area_param,

diff --git a/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml b/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml
@@ -0,0 +1,17 @@
+/**:
+  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: true
+    launch_occlusion_spot: true
+    launch_no_stopping_area: true
+    forward_path_length: 1000.0
+    backward_path_length: 5.0
+    max_accel: -2.8
+    max_jerk: -5.0
+    system_delay: 0.5
+    delay_response_time: 1.3