feat(static_centerline_optimizer): get behavior_velocity_planner's pa…

…th interval from yaml

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml

@@ -21,6 +21,10 @@
     name="behavior_path_planner_param"
     default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml"
   />
+  <arg
+    name="behavior_velocity_planner_param"
+    default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml"
+  />
   <arg name="path_smoother_param" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml"/>
   <arg
     name="obstacle_avoidance_planner_param"
@@ -67,6 +71,7 @@
     <!-- component param -->
     <param from="$(var map_loader_param)"/>
     <param from="$(var behavior_path_planner_param)"/>
+    <param from="$(var behavior_velocity_planner_param)"/>
     <param from="$(var path_smoother_param)"/>
     <param from="$(var obstacle_avoidance_planner_param)"/>
     <param from="$(var mission_planner_param)"/>

planning/static_centerline_optimizer/package.xml

@@ -19,6 +19,7 @@
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>behavior_path_planner</depend>
+  <depend>behavior_velocity_planner</depend>
   <depend>geometry_msgs</depend>
   <depend>global_parameter_loader</depend>
   <depend>interpolation</depend>

planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp

@@ -425,6 +425,10 @@ std::vector<TrajectoryPoint> StaticCenterlineOptimizerNode::plan_path(
   const double behavior_path_interval = has_parameter("output_path_interval")
                                           ? get_parameter("output_path_interval").as_double()
                                           : declare_parameter<double>("output_path_interval");
+  const double behavior_vel_interval =
+    has_parameter("behavior_output_path_interval")
+      ? get_parameter("behavior_output_path_interval").as_double()
+      : declare_parameter<double>("behavior_output_path_interval");
 
   // extract path with lane id from lanelets
   const auto raw_path_with_lane_id = [&]() {
@@ -439,8 +443,7 @@ std::vector<TrajectoryPoint> StaticCenterlineOptimizerNode::plan_path(
   // convert path with lane id to path
   const auto raw_path = [&]() {
     const auto non_resampled_path = convert_to_path(raw_path_with_lane_id);
-    // NOTE: The behavior_velocity_planner resamples with the interval 1.0 somewhere.
-    return motion_utils::resamplePath(non_resampled_path, 1.0);
+    return motion_utils::resamplePath(non_resampled_path, behavior_vel_interval);
   }();
   pub_raw_path_->publish(raw_path);
   RCLCPP_INFO(get_logger(), "Converted to path and published.");

planning/static_centerline_optimizer/test/test_static_centerline_optimizer.test.py

@@ -56,6 +56,10 @@ def generate_test_description():
                 get_package_share_directory("behavior_path_planner"),
                 "config/behavior_path_planner.param.yaml",
             ),
+            os.velocity.join(
+                get_package_share_directory("behavior_velocity_planner"),
+                "config/behavior_velocity_planner.param.yaml",
+            ),
             os.path.join(
                 get_package_share_directory("path_smoother"),
                 "config/elastic_band_smoother.param.yaml",