Merge pull request #19 from tier4/sync-awf-latest-x1

chore: sync awf-latest-x1
tier4 · Mar 31, 2023 · 38ae84e · 38ae84e
2 parents 3100d88 + 133a3d9
commit 38ae84e
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Showing 3 changed files with 56 additions and 51 deletions.
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -36,54 +36,3 @@
 
     rear_vehicle_reaction_time: 2.0
     rear_vehicle_safety_time_margin: 1.0
-
-    # USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE.
-    # https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt
-    # NOTE: The smaller the priority number is, the higher the module priority is.
-    ext_request_lane_change_left:
-      enable_module: false
-      enable_simultaneous_execution: false
-      priority: 6
-      max_module_size: 1
-
-    ext_request_lane_change_right:
-      enable_module: false
-      enable_simultaneous_execution: false
-      priority: 6
-      max_module_size: 1
-
-    lane_change_left:
-      enable_module: true
-      enable_simultaneous_execution: true
-      priority: 5
-      max_module_size: 1
-
-    lane_change_right:
-      enable_module: true
-      enable_simultaneous_execution: false
-      priority: 4
-      max_module_size: 1
-
-    pull_out:
-      enable_module: true
-      enable_simultaneous_execution: false
-      priority: 0
-      max_module_size: 1
-
-    side_shift:
-      enable_module: true
-      enable_simultaneous_execution: false
-      priority: 2
-      max_module_size: 1
-
-    pull_over:
-      enable_module: true
-      enable_simultaneous_execution: false
-      priority: 1
-      max_module_size: 1
-
-    avoidance:
-      enable_module: true
-      enable_simultaneous_execution: false
-      priority: 3
-      max_module_size: 1
diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -0,0 +1,52 @@
+# USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE.
+# https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt
+# NOTE: The smaller the priority number is, the higher the module priority is.
+/**:
+  ros__parameters:
+    ext_request_lane_change_left:
+      enable_module: false
+      enable_simultaneous_execution: false
+      priority: 6
+      max_module_size: 1
+
+    ext_request_lane_change_right:
+      enable_module: false
+      enable_simultaneous_execution: false
+      priority: 6
+      max_module_size: 1
+
+    lane_change_left:
+      enable_module: true
+      enable_simultaneous_execution: true
+      priority: 5
+      max_module_size: 1
+
+    lane_change_right:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 4
+      max_module_size: 1
+
+    pull_out:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 0
+      max_module_size: 1
+
+    side_shift:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 2
+      max_module_size: 1
+
+    pull_over:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 1
+      max_module_size: 1
+
+    avoidance:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 3
+      max_module_size: 1
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -47,6 +47,10 @@
       name="drivable_area_expansion_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml"
     />
+    <arg
+      name="scene_module_manager_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml"
+    />
     <arg
       name="behavior_path_planner_tree_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml"