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refactor(dynamic_obstacle_stop): move to motion_velocity_planner (#7460)
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Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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maxime-clem authored Jun 13, 2024
1 parent 5b611e7 commit 65665ce
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Showing 36 changed files with 385 additions and 472 deletions.
2 changes: 1 addition & 1 deletion .github/CODEOWNERS
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Expand Up @@ -192,13 +192,13 @@ planning/autoware_behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp ky
planning/behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
planning/autoware_behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
planning/autoware_behavior_velocity_crosswalk_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yuki.takagi@tier4.jp
planning/behavior_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp
planning/behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
planning/autoware_behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
planning/autoware_behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
planning/autoware_behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
planning/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp
planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** maxime.clement@tier4.jp
planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp
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Expand Up @@ -33,7 +33,6 @@
<arg name="launch_run_out_module" default="true"/>
<arg name="launch_speed_bump_module" default="true"/>
<arg name="launch_no_drivable_lane_module" default="true"/>
<arg name="launch_dynamic_obstacle_stop_module" default="true"/>

<arg name="launch_module_list_end" default="&quot;&quot;]"/>

Expand Down Expand Up @@ -168,11 +167,6 @@
value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::NoDrivableLaneModulePlugin, '&quot;)"
if="$(var launch_no_drivable_lane_module)"
/>
<let
name="behavior_velocity_planner_launch_modules"
value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::DynamicObstacleStopModulePlugin, '&quot;)"
if="$(var launch_dynamic_obstacle_stop_module)"
/>
<let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>

<node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args="" output="both">
Expand Down Expand Up @@ -256,7 +250,6 @@
<param from="$(var behavior_velocity_planner_run_out_module_param_path)"/>
<param from="$(var behavior_velocity_planner_speed_bump_module_param_path)"/>
<param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/>
<param from="$(var behavior_velocity_planner_dynamic_obstacle_stop_module_param_path)"/>
<!-- composable node config -->
<extra_arg name="use_intra_process_comms" value="false"/>
</composable_node>
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Expand Up @@ -2,9 +2,9 @@
<arg name="interface_input_topic" default="/planning/scenario_planning/lane_driving/behavior_planning/path"/>
<arg name="interface_output_topic" default="/planning/scenario_planning/lane_driving/trajectory"/>

<arg name="launch_dynamic_obstacle_stop_module" default="true"/>
<arg name="launch_out_of_lane_module" default="true"/>
<arg name="launch_obstacle_velocity_limiter_module" default="true"/>
<!-- <arg name="launch_dynamic_obstacle_stop_module" default="true"/> -->
<arg name="launch_module_list_end" default="&quot;&quot;]"/>

<!-- assemble launch config for motion velocity planner -->
Expand All @@ -19,11 +19,11 @@
value="$(eval &quot;'$(var motion_velocity_planner_launch_modules)' + 'autoware::motion_velocity_planner::ObstacleVelocityLimiterModule, '&quot;)"
if="$(var launch_obstacle_velocity_limiter_module)"
/>
<!-- <let -->
<!-- name="motion_velocity_planner_launch_modules" -->
<!-- value="$(eval &quot;'$(var motion_velocity_planner_launch_modules)' + 'motion_velocity_planner::DynamicObstacleStopModule, '&quot;)" -->
<!-- if="$(var launch_dynamic_obstacle_stop_module)" -->
<!-- /> -->
<let
name="motion_velocity_planner_launch_modules"
value="$(eval &quot;'$(var motion_velocity_planner_launch_modules)' + 'autoware::motion_velocity_planner::DynamicObstacleStopModule, '&quot;)"
if="$(var launch_dynamic_obstacle_stop_module)"
/>
<let name="motion_velocity_planner_launch_modules" value="$(eval &quot;'$(var motion_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>

<node_container pkg="rclcpp_components" exec="$(var container_type)" name="motion_planning_container" namespace="" args="" output="screen">
Expand Down Expand Up @@ -140,6 +140,7 @@
<param from="$(var velocity_smoother_param_path)"/>
<param from="$(var motion_velocity_planner_velocity_smoother_type_param_path)"/>
<param from="$(var motion_velocity_planner_param_path)"/>
<param from="$(var motion_velocity_planner_dynamic_obstacle_stop_module_param_path)"/>
<param from="$(var motion_velocity_planner_out_of_lane_module_param_path)"/>
<param from="$(var motion_velocity_planner_obstacle_velocity_limiter_param_path)"/>
<!-- <param from="$(var motion_velocity_planner_template_param_path)"/> -->
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2 changes: 1 addition & 1 deletion planning/.pages
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Expand Up @@ -24,7 +24,6 @@ nav:
- 'Blind Spot': planning/autoware_behavior_velocity_blind_spot_module
- 'Crosswalk': planning/autoware_behavior_velocity_crosswalk_module
- 'Detection Area': planning/behavior_velocity_detection_area_module
- 'Dynamic Obstacle Stop': planning/behavior_velocity_dynamic_obstacle_stop_module
- 'Intersection': planning/autoware_behavior_velocity_intersection_module
- 'No Drivable Lane': planning/behavior_velocity_no_drivable_lane_module
- 'No Stopping Area': planning/autoware_behavior_velocity_no_stopping_area_module
Expand Down Expand Up @@ -64,6 +63,7 @@ nav:
- 'Motion Velocity Planner':
- 'About Motion Velocity Planner': planning/motion_velocity_planner/autoware_motion_velocity_planner_node/
- 'Available Modules':
- 'Dynamic Obstacle Stop': planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/
- 'Out of Lane': planning/motion_velocity_planner/autoware_motion_velocity_planner_out_of_lane_module/
- 'Obstacle Velocity Limiter': planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/
- 'Velocity Smoother':
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Expand Up @@ -25,7 +25,6 @@
<arg name="behavior_velocity_planner_run_out_module_param_path"/>
<arg name="behavior_velocity_planner_speed_bump_module_param_path"/>
<arg name="behavior_velocity_planner_no_drivable_lane_module_param_path"/>
<arg name="behavior_velocity_planner_dynamic_obstacle_stop_module_param_path"/>
<!-- <arg name="behavior_velocity_planner_template_module_param_path"/> -->
<arg name="behavior_velocity_planner_param_file" default="$(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml"/>

Expand Down Expand Up @@ -68,7 +67,6 @@
<param from="$(var behavior_velocity_planner_run_out_module_param_path)"/>
<param from="$(var behavior_velocity_planner_speed_bump_module_param_path)"/>
<param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/>
<param from="$(var behavior_velocity_planner_dynamic_obstacle_stop_module_param_path)"/>
<!-- <param from="$(var behavior_velocity_planner_template_param_path)"/> -->

<param from="$(var behavior_velocity_planner_param_file)"/>
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