From d05ac54793a6b85c35ef94d5b4600603d5bb7722 Mon Sep 17 00:00:00 2001
From: taikitanaka3 <taiki.tanaka@tier4.jp>
Date: Thu, 8 Sep 2022 10:43:14 +0900
Subject: [PATCH 1/2] feat(behavior velocity): lighten topic

Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp>
---
 .../include/scene_module/scene_module_interface.hpp    |  8 ++++----
 planning/behavior_velocity_planner/src/node.cpp        | 10 +++++-----
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp
index e3d41eab53c6f..0ba04a5b40736 100644
--- a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp
@@ -136,7 +136,7 @@ class SceneModuleManagerInterface
   : clock_(node.get_clock()), logger_(node.get_logger())
   {
     const auto ns = std::string("~/debug/") + module_name;
-    pub_debug_ = node.create_publisher<visualization_msgs::msg::MarkerArray>(ns, 20);
+    pub_debug_ = node.create_publisher<visualization_msgs::msg::MarkerArray>(ns, 1);
     if (!node.has_parameter("is_publish_debug_path")) {
       is_publish_debug_path_ = node.declare_parameter("is_publish_debug_path", false);
     } else {
@@ -147,12 +147,12 @@ class SceneModuleManagerInterface
         std::string("~/debug/path_with_lane_id/") + module_name, 1);
     }
     pub_virtual_wall_ = node.create_publisher<visualization_msgs::msg::MarkerArray>(
-      std::string("~/virtual_wall/") + module_name, 20);
+      std::string("~/virtual_wall/") + module_name, 1);
     pub_stop_reason_ =
-      node.create_publisher<tier4_planning_msgs::msg::StopReasonArray>("~/output/stop_reasons", 20);
+      node.create_publisher<tier4_planning_msgs::msg::StopReasonArray>("~/output/stop_reasons", 1);
     pub_infrastructure_commands_ =
       node.create_publisher<tier4_v2x_msgs::msg::InfrastructureCommandArray>(
-        "~/output/infrastructure_commands", 20);
+        "~/output/infrastructure_commands", 1);
 
     processing_time_publisher_ = std::make_shared<DebugPublisher>(&node, "~/debug");
   }
diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
index 2ac0e6eb67f71..739310908a8cc 100644
--- a/planning/behavior_velocity_planner/src/node.cpp
+++ b/planning/behavior_velocity_planner/src/node.cpp
@@ -119,28 +119,28 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
     createSubscriptionOptions(this));
   sub_traffic_signals_ =
     this->create_subscription<autoware_auto_perception_msgs::msg::TrafficSignalArray>(
-      "~/input/traffic_signals", 10,
+      "~/input/traffic_signals", 1,
       std::bind(&BehaviorVelocityPlannerNode::onTrafficSignals, this, _1),
       createSubscriptionOptions(this));
   sub_external_crosswalk_states_ = this->create_subscription<tier4_api_msgs::msg::CrosswalkStatus>(
-    "~/input/external_crosswalk_states", 10,
+    "~/input/external_crosswalk_states", 1,
     std::bind(&BehaviorVelocityPlannerNode::onExternalCrosswalkStates, this, _1),
     createSubscriptionOptions(this));
   sub_external_intersection_states_ =
     this->create_subscription<tier4_api_msgs::msg::IntersectionStatus>(
-      "~/input/external_intersection_states", 10,
+      "~/input/external_intersection_states", 1,
       std::bind(&BehaviorVelocityPlannerNode::onExternalIntersectionStates, this, _1));
   sub_external_velocity_limit_ = this->create_subscription<VelocityLimit>(
     "~/input/external_velocity_limit_mps", rclcpp::QoS{1}.transient_local(),
     std::bind(&BehaviorVelocityPlannerNode::onExternalVelocityLimit, this, _1));
   sub_external_traffic_signals_ =
     this->create_subscription<autoware_auto_perception_msgs::msg::TrafficSignalArray>(
-      "~/input/external_traffic_signals", 10,
+      "~/input/external_traffic_signals", 1,
       std::bind(&BehaviorVelocityPlannerNode::onExternalTrafficSignals, this, _1),
       createSubscriptionOptions(this));
   sub_virtual_traffic_light_states_ =
     this->create_subscription<tier4_v2x_msgs::msg::VirtualTrafficLightStateArray>(
-      "~/input/virtual_traffic_light_states", 10,
+      "~/input/virtual_traffic_light_states", 1,
       std::bind(&BehaviorVelocityPlannerNode::onVirtualTrafficLightStates, this, _1),
       createSubscriptionOptions(this));
   sub_occupancy_grid_ = this->create_subscription<nav_msgs::msg::OccupancyGrid>(

From 41e43e481f14e119ae019059d95645f98306845f Mon Sep 17 00:00:00 2001
From: taikitanaka3 <ttatcoder@outlook.jp>
Date: Fri, 9 Sep 2022 00:24:17 +0900
Subject: [PATCH 2/2] chore: add queue size of virtual wall for visualization

Signed-off-by: taikitanaka3 <ttatcoder@outlook.jp>
---
 .../include/scene_module/scene_module_interface.hpp             | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp
index 0ba04a5b40736..76b76bea37749 100644
--- a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp
@@ -147,7 +147,7 @@ class SceneModuleManagerInterface
         std::string("~/debug/path_with_lane_id/") + module_name, 1);
     }
     pub_virtual_wall_ = node.create_publisher<visualization_msgs::msg::MarkerArray>(
-      std::string("~/virtual_wall/") + module_name, 1);
+      std::string("~/virtual_wall/") + module_name, 5);
     pub_stop_reason_ =
       node.create_publisher<tier4_planning_msgs::msg::StopReasonArray>("~/output/stop_reasons", 1);
     pub_infrastructure_commands_ =