feat(behavior_path_planner): move lane_following_params to behavior p…

…ath params (#302) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Apr 18, 2023 · c1da7a1 · c1da7a1
1 parent a26a821
commit c1da7a1
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Showing 4 changed files with 8 additions and 16 deletions.
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -40,3 +40,11 @@
 
     rear_vehicle_reaction_time: 2.0
     rear_vehicle_safety_time_margin: 1.0
+
+    lane_following:
+      drivable_area_right_bound_offset: 0.0
+      drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
+
+    lane_change:
+      lane_change_prepare_duration: 4.0 # [s]
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -9,10 +9,6 @@
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
       drivable_area_types_to_skip: [road_border]
-    lane_following:
-      drivable_area_right_bound_offset: 0.0
-      drivable_area_left_bound_offset: 0.0
-      drivable_area_types_to_skip: [road_border]
     pull_out:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0

diff --git a/..._driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml b/..._driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -41,10 +41,6 @@
       name="lane_change_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml"
     />
-    <arg
-      name="lane_following_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml"
-    />
     <arg name="pull_over_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml"/>
     <arg name="pull_out_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml"/>
     <arg