feat(interface): add new option keep_last (#543)

feat(planner_manager): keep last module Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Aug 31, 2023 · 90b98b4 · 90b98b4
1 parent fb5691a
commit 90b98b4
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -8,6 +8,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 7
       max_module_size: 1
 
@@ -16,6 +17,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 7
       max_module_size: 1
 
@@ -24,6 +26,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 6
       max_module_size: 1
 
@@ -32,6 +35,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 6
       max_module_size: 1
 
@@ -40,6 +44,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 0
       max_module_size: 1
 
@@ -48,6 +53,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 2
       max_module_size: 1
 
@@ -56,6 +62,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: true
       priority: 1
       max_module_size: 1
 
@@ -64,6 +71,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 5
       max_module_size: 1
 
@@ -72,6 +80,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 4
       max_module_size: 1
 
@@ -80,5 +89,6 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 3
       max_module_size: 1