fix: fix foa scene_module manager param (#485)

* fix: fix foa scene_module manager param Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: tkimura4 <tkimura4@users.noreply.github.com>
autowarefoundation · May 29, 2023 · ba0b1d4 · ba0b1d4
1 parent cc8ad4d
commit ba0b1d4
Showing 1 changed file with 12 additions and 5 deletions.
diff --git a/.../lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/.../lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
@@ -7,28 +7,28 @@
       enable_module: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 6
+      priority: 7
       max_module_size: 1
 
     external_request_lane_change_right:
       enable_module: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 6
+      priority: 7
       max_module_size: 1
 
     lane_change_left:
       enable_module: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 5
+      priority: 6
       max_module_size: 1
 
     lane_change_right:
       enable_module: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 5
+      priority: 6
       max_module_size: 1
 
     pull_out:
@@ -56,13 +56,20 @@
       enable_module: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
-      priority: 4
+      priority: 5
       max_module_size: 1
 
     # NOTE: This module is unstable. Deprecated for now.
     avoidance_by_lc:
       enable_module: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      priority: 4
+      max_module_size: 1
+
+    dynamic_avoidance:
+      enable_module: false
+      enable_simultaneous_execution_as_approved_module: true
+      enable_simultaneous_execution_as_candidate_module: true
       priority: 3
       max_module_size: 1