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feat(avoidance_by_lc): add new module to avoid obstacle by lane change #261

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merged 3 commits into from
Apr 6, 2023
Merged

feat(avoidance_by_lc): add new module to avoid obstacle by lane change #261

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bac74f1
feat(avoidance_by_lc): add config
satoshi-ota Mar 18, 2023
3eeda33
feat(launch): add avoidance by lc param path
satoshi-ota Mar 21, 2023
1bdf174
feat(rviz): add marker for avoidance by lc
satoshi-ota Mar 18, 2023
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6 changes: 6 additions & 0 deletions ...riving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
/**:
ros__parameters:
avoidance_by_lane_change:
execute_object_num: 1
execute_object_longitudinal_margin: 0.0
execute_only_when_lane_change_finish_before_object: true
9 changes: 8 additions & 1 deletion ...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
lane_change_right:
enable_module: true
enable_simultaneous_execution: false
priority: 4
priority: 5
max_module_size: 1

pull_out:
Expand All @@ -47,6 +47,13 @@

avoidance:
enable_module: true
enable_simultaneous_execution: true
priority: 4
max_module_size: 1

# NOTE: This module is unstable. Deprecated for now.
avoidance_by_lc:
enable_module: false
enable_simultaneous_execution: false
priority: 3
max_module_size: 1
4 changes: 4 additions & 0 deletions autoware_launch/launch/components/tier4_planning_component.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,10 @@
value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml"
/>
<arg name="avoidance_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml"/>
<arg
name="avoidance_by_lc_param_path"
value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml"
/>
<arg
name="lane_change_param_path"
value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml"
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46 changes: 46 additions & 0 deletions autoware_launch/rviz/autoware.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -1011,6 +1011,29 @@ Visualization Manager:
Constant Color: false
Scale: 0.30000001192092896
Value: true
- Class: rviz_plugins/Path
Color Border Vel Max: 3
Enabled: false
Name: PathReference_AvoidanceByLC
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/path_reference/avoidance_by_lane_change
Value: true
View Path:
Alpha: 0.3
Color: 210; 110; 10
Constant Color: true
Value: true
Width: 2
View Velocity:
Alpha: 0.30000001192092896
Color: 0; 0; 0
Constant Color: false
Scale: 0.30000001192092896
Value: false
- Class: rviz_plugins/Path
Color Border Vel Max: 3
Enabled: false
Expand Down Expand Up @@ -1126,6 +1149,29 @@ Visualization Manager:
Constant Color: false
Scale: 0.30000001192092896
Value: false
- Class: rviz_plugins/Path
Color Border Vel Max: 3
Enabled: true
Name: PathChangeCandidate_AvoidanceByLC
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/path_candidate/avoidance_by_lane_change
Value: true
View Path:
Alpha: 0.30000001192092896
Color: 115; 210; 22
Constant Color: false
Value: true
Width: 2
View Velocity:
Alpha: 0.30000001192092896
Color: 0; 0; 0
Constant Color: false
Scale: 0.30000001192092896
Value: false
- Class: rviz_plugins/Path
Color Border Vel Max: 3
Enabled: true
Expand Down