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fix(behavior, launch): fix launch error #5847

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merged 5 commits into from
Dec 13, 2023
Merged

fix(behavior, launch): fix launch error #5847

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cad370b
fix(launch): set null to avoid launch error
satoshi-ota Dec 12, 2023
63d9388
fix(behavior): check null
satoshi-ota Dec 12, 2023
f1da5f8
chore(behavior): add comment
satoshi-ota Dec 12, 2023
478e454
fix(launch): set at the end of list
satoshi-ota Dec 13, 2023
9aef450
fix(launch): fill empty string at the end of module list
satoshi-ota Dec 13, 2023
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6 changes: 4 additions & 2 deletions ...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,8 @@
<arg name="launch_out_of_lane_module" default="true"/>
<arg name="launch_no_drivable_lane_module" default="true"/>

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

<!-- assemble launch config for behavior path planner -->
<arg name="behavior_path_planner_launch_modules" default="["/>
<let
Expand Down Expand Up @@ -95,7 +97,7 @@
value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::AvoidanceByLaneChangeModuleManager, '&quot;)"
if="$(var launch_avoidance_by_lane_change_module)"
/>
<let name="behavior_path_planner_launch_modules" value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + ']'&quot;)"/>
<let name="behavior_path_planner_launch_modules" value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>

<!-- assemble launch config for behavior velocity planner -->
<arg name="behavior_velocity_planner_launch_modules" default="["/>
Expand Down Expand Up @@ -174,7 +176,7 @@
value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::NoDrivableLaneModulePlugin, '&quot;)"
if="$(var launch_no_drivable_lane_module)"
/>
<let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + ']'&quot;)"/>
<let name="behavior_velocity_planner_launch_modules" value="$(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="screen">
<composable_node pkg="behavior_path_planner" plugin="behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">
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4 changes: 4 additions & 0 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,6 +135,10 @@
planner_manager_ = std::make_shared<PlannerManager>(*this, p.max_iteration_num, p.verbose);

for (const auto & name : declare_parameter<std::vector<std::string>>("launch_modules")) {
// workaround: Since ROS 2 can't get empty list, launcher set [''] on the parameter.
if (name == "") {
break;
}

Check warning on line 141 in planning/behavior_path_planner/src/behavior_path_planner_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Large Method 

BehaviorPathPlannerNode::BehaviorPathPlannerNode increases from 104 to 107 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
planner_manager_->launchScenePlugin(*this, name);
}

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4 changes: 4 additions & 0 deletions planning/behavior_velocity_planner/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -147,6 +147,10 @@

// Initialize PlannerManager
for (const auto & name : declare_parameter<std::vector<std::string>>("launch_modules")) {
// workaround: Since ROS 2 can't get empty list, launcher set [''] on the parameter.
if (name == "") {
break;
}

Check warning on line 153 in planning/behavior_velocity_planner/src/node.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Large Method 

BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode has 71 lines, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
planner_manager_.launchScenePlugin(*this, name);
}

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