From 133a3d94b87ff7278f1b0585747b762609c645e1 Mon Sep 17 00:00:00 2001
From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date: Fri, 31 Mar 2023 09:33:47 +0900
Subject: [PATCH] refactor(behavior_path_planner): separate config file (#270)

feat(behavior_path_planner): add new config for manager

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 .../behavior_path_planner.param.yaml          | 51 ------------------
 .../scene_module_manager.param.yaml           | 52 +++++++++++++++++++
 .../tier4_planning_component.launch.xml       |  4 ++
 3 files changed, 56 insertions(+), 51 deletions(-)
 create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
index 9cd00cba45..9496364980 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/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/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
new file mode 100644
index 0000000000..098af56ede
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/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
index 41ed528111..43189b12e3 100644
--- 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.xml"