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fix(stop_line): fix stop_line state #1058

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merged 3 commits into from
Jun 9, 2022
Merged

fix(stop_line): fix stop_line state #1058

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e18b65f
fix(stop_line): fix stop_line state
k-obitsu Jun 8, 2022
058b041
fix(stop_line): fix stop_line state
k-obitsu Jun 9, 2022
b320bdb
ci(pre-commit): autofix
pre-commit-ci[bot] Jun 9, 2022
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1 change: 1 addition & 0 deletions planning/behavior_velocity_planner/config/stop_line.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,5 +4,6 @@
stop_margin: 0.0
stop_check_dist: 2.0
stop_duration_sec: 1.0
use_initialization_stop_line_state: true
debug:
show_stopline_collision_check: false # [-] whether to show stopline collision
1 change: 1 addition & 0 deletions planning/behavior_velocity_planner/include/scene_module/stop_line/scene.hpp
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Expand Up @@ -72,6 +72,7 @@ class StopLineModule : public SceneModuleInterface
double stop_margin;
double stop_check_dist;
double stop_duration_sec;
bool use_initialization_stop_line_state;
bool show_stopline_collision_check;
};

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2 changes: 2 additions & 0 deletions planning/behavior_velocity_planner/src/scene_module/stop_line/manager.cpp
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Expand Up @@ -93,6 +93,8 @@ StopLineModuleManager::StopLineModuleManager(rclcpp::Node & node)
p.stop_margin = node.declare_parameter(ns + ".stop_margin", 0.0);
p.stop_check_dist = node.declare_parameter(ns + ".stop_check_dist", 2.0);
p.stop_duration_sec = node.declare_parameter(ns + ".stop_duration_sec", 1.0);
p.use_initialization_stop_line_state =
node.declare_parameter(ns + ".use_initialization_stop_line_state", false);
// debug
p.show_stopline_collision_check =
node.declare_parameter(ns + ".debug.show_stopline_collision_check", false);
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3 changes: 1 addition & 2 deletions planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp
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Expand Up @@ -278,8 +278,7 @@ bool StopLineModule::modifyPathVelocity(
}
} else if (state_ == State::START) {
// Initialize if vehicle is far from stop_line
constexpr bool use_initialization_after_start = false;
if (use_initialization_after_start) {
if (planner_param_.use_initialization_stop_line_state) {
if (signed_arc_dist_to_stop_point > planner_param_.stop_check_dist) {
RCLCPP_INFO(logger_, "START -> APPROACH");
state_ = State::APPROACH;
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