fix(start_planner): redefine the necessary parameters (#7477)

* add necessary parameter which removed in previous PR mistakenly Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change variable name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
autowarefoundation · Jun 13, 2024 · 5b611e7 · 5b611e7
1 parent be75f1b
commit 5b611e7
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Showing 4 changed files with 8 additions and 2 deletions.
diff --git a/...oware_behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp b/...oware_behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp
@@ -60,7 +60,7 @@ struct ParallelParkingParameters
   // pull_out
   double pull_out_velocity{0.0};
   double pull_out_lane_departure_margin{0.0};
-  double pull_out_path_interval{0.0};
+  double pull_out_arc_path_interval{0.0};
   double pull_out_max_steer_angle{0.0};
 };
 

diff --git a/...e_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp b/...e_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
@@ -244,7 +244,7 @@ bool GeometricParallelParking::planPullOut(
     auto arc_paths = planOneTrial(
       *end_pose, start_pose, R_E_min_, road_lanes, shoulder_lanes, is_forward, left_side_start,
       start_pose_offset, parameters_.pull_out_lane_departure_margin,
-      parameters_.pull_out_path_interval, lane_departure_checker);
+      parameters_.pull_out_arc_path_interval, lane_departure_checker);
     if (arc_paths.empty()) {
       // not found path
       continue;

diff --git a/planning/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml b/planning/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml
@@ -35,6 +35,7 @@
       # geometric pull out
       enable_geometric_pull_out: true
       geometric_collision_check_distance_from_end: 0.0
+      arc_path_interval: 1.0
       divide_pull_out_path: true
       geometric_pull_out_velocity: 1.0
       lane_departure_margin: 0.2

diff --git a/planning/autoware_behavior_path_start_planner_module/src/manager.cpp b/planning/autoware_behavior_path_start_planner_module/src/manager.cpp
@@ -91,6 +91,8 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
   p.divide_pull_out_path = node->declare_parameter<bool>(ns + "divide_pull_out_path");
   p.parallel_parking_parameters.pull_out_velocity =
     node->declare_parameter<double>(ns + "geometric_pull_out_velocity");
+  p.parallel_parking_parameters.pull_out_arc_path_interval =
+    node->declare_parameter<double>(ns + "arc_path_interval");
   p.parallel_parking_parameters.pull_out_lane_departure_margin =
     node->declare_parameter<double>(ns + "lane_departure_margin");
   p.lane_departure_check_expansion_margin =
@@ -416,6 +418,9 @@ void StartPlannerModuleManager::updateModuleParams(
       parameters, ns + "maximum_longitudinal_deviation", p->maximum_longitudinal_deviation);
     updateParam<bool>(parameters, ns + "enable_geometric_pull_out", p->enable_geometric_pull_out);
     updateParam<bool>(parameters, ns + "divide_pull_out_path", p->divide_pull_out_path);
+    updateParam<double>(
+      parameters, ns + "arc_path_interval",
+      p->parallel_parking_parameters.pull_out_arc_path_interval);
     updateParam<double>(
       parameters, ns + "lane_departure_margin",
       p->parallel_parking_parameters.pull_out_lane_departure_margin);