refactor(start_planner): rename pull out to start planner (autowarefo…

…undation#386) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
keiota · Jun 7, 2023 · 5fc1994 · 5fc1994
1 parent 40685b5
commit 5fc1994
Show file tree

Hide file tree

Showing 9 changed files with 33 additions and 33 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml b/...nning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml
@@ -8,8 +8,8 @@
                 <Action ID="GoalPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
-                <Condition ID="PullOut_Request"/>
-                <Action ID="PullOut_Plan" output="{output}"/>
+                <Condition ID="StartPlanner_Request"/>
+                <Action ID="StartPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
                 <Condition ID="SideShift_Request"/>
@@ -70,10 +70,10 @@
             <output_port name="output_candidate" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
         </Action>
         <Condition ID="LaneFollowing_Request"/>
-        <Action ID="PullOut_Plan">
+        <Action ID="StartPlanner_Plan">
             <output_port name="output"/>
         </Action>
-        <Condition ID="PullOut_Request"/>
+        <Condition ID="StartPlanner_Request"/>
         <Action ID="GoalPlanner_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
         </Action>

diff --git a/...g/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml b/...g/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml
@@ -8,8 +8,8 @@
                 <Action ID="GoalPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
-                <Condition ID="PullOut_Request"/>
-                <Action ID="PullOut_Plan" output="{output}"/>
+                <Condition ID="StartPlanner_Request"/>
+                <Action ID="StartPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
                 <Condition ID="LaneChange_Request"/>
@@ -62,10 +62,10 @@
             <output_port name="output_candidate" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
         </Action>
         <Condition ID="LaneFollowing_Request"/>
-        <Action ID="PullOut_Plan">
+        <Action ID="StartPlanner_Plan">
             <output_port name="output"/>
         </Action>
-        <Condition ID="PullOut_Request"/>
+        <Condition ID="StartPlanner_Request"/>
         <Action ID="GoalPlanner_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
         </Action>

diff --git a/...e_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml b/...e_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml
@@ -9,9 +9,9 @@
                 <Action ID="GoalPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
-                <Condition ID="PullOut_Request"/>
-                <Condition ID="PullOut_Ready"/>
-                <Action ID="PullOut_Plan" output="{output}"/>
+                <Condition ID="StartPlanner_Request"/>
+                <Condition ID="StartPlanner_Ready"/>
+                <Action ID="StartPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
                 <Condition ID="LaneChange_Request"/>
@@ -73,11 +73,11 @@
         </Action>
         <Condition ID="LaneFollowing_Ready"/>
         <Condition ID="LaneFollowing_Request"/>
-        <Action ID="PullOut_Plan">
+        <Action ID="StartPlanner_Plan">
             <output_port name="output"/>
         </Action>
-        <Condition ID="PullOut_Ready"/>
-        <Condition ID="PullOut_Request"/>
+        <Condition ID="StartPlanner_Ready"/>
+        <Condition ID="StartPlanner_Request"/>
         <Action ID="GoalPlanner_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
         </Action>

diff --git a/...or_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml b/...or_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml
@@ -8,8 +8,8 @@
                 <Action ID="GoalPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
-                <Condition ID="PullOut_Request"/>
-                <Action ID="PullOut_Plan" output="{output}"/>
+                <Condition ID="StartPlanner_Request"/>
+                <Action ID="StartPlanner_Plan" output="{output}"/>
             </ReactiveSequence>
             <ReactiveSequence>
                 <Condition ID="SideShift_Request"/>
@@ -57,10 +57,10 @@
             <output_port name="output" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
         </Action>
         <Condition ID="LaneFollowing_Request"/>
-        <Action ID="PullOut_Plan">
+        <Action ID="StartPlanner_Plan">
             <output_port name="output"/>
         </Action>
-        <Condition ID="PullOut_Request"/>
+        <Condition ID="StartPlanner_Request"/>
         <Action ID="GoalPlanner_Plan">
             <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
         </Action>

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
@@ -31,7 +31,7 @@
       priority: 6
       max_module_size: 1
 
-    pull_out:
+    start_planner:
       enable_module: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false

diff --git a/...path_planner/pull_out/pull_out.param.yaml → ...er/start_planner/start_planner.param.yaml b/...path_planner/pull_out/pull_out.param.yaml → ...er/start_planner/start_planner.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    pull_out:
+    start_planner:
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0

diff --git a/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -12,7 +12,7 @@
       - "avoidance_left"
       - "avoidance_right"
       - "goal_planner"
-      - "pull_out"
+      - "start_planner"
       - "intersection_occlusion"
 
     default_enable_list:
@@ -27,5 +27,5 @@
       - "avoidance_left"
       - "avoidance_right"
       - "goal_planner"
-      - "pull_out"
+      - "start_planner"
       - "intersection_occlusion"
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -38,7 +38,7 @@
     <arg name="dynamic_avoidance_param_path" value="$(var behavior_path_config_path)/dynamic_avoidance/dynamic_avoidance.param.yaml"/>
     <arg name="lane_change_param_path" value="$(var behavior_path_config_path)/lane_change/lane_change.param.yaml"/>
     <arg name="goal_planner_param_path" value="$(var behavior_path_config_path)/goal_planner/goal_planner.param.yaml"/>
-    <arg name="pull_out_param_path" value="$(var behavior_path_config_path)/pull_out/pull_out.param.yaml"/>
+    <arg name="start_planner_param_path" value="$(var behavior_path_config_path)/start_planner/start_planner.param.yaml"/>
     <arg name="drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
     <arg name="scene_module_manager_param_path" value="$(var behavior_path_config_path)/scene_module_manager.param.yaml"/>
     <arg name="behavior_path_planner_tree_param_path" value="$(var behavior_path_config_path)/behavior_path_planner_tree.xml"/>

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1131,13 +1131,13 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: false
-                      Name: PathReference_PullOut
+                      Name: PathReference_StartPlanner
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_reference/pull_out
+                        Value: /planning/path_reference/start_planner
                       Value: true
                       View Path:
                         Alpha: 0.3
@@ -1315,13 +1315,13 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true
-                      Name: PathChangeCandidate_PullOut
+                      Name: PathChangeCandidate_StartPlanner
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/path_candidate/pull_out
+                        Value: /planning/path_candidate/start_planner
                       Value: true
                       View Path:
                         Alpha: 0.30000001192092896
@@ -1460,15 +1460,15 @@ Visualization Manager:
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
-                          Name: VirtualWall (PullOut)
+                          Name: VirtualWall (StartPlanner)
                           Namespaces:
                             {}
                           Topic:
                             Depth: 5
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/pull_out
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/start_planner
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
@@ -1863,15 +1863,15 @@ Visualization Manager:
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
-                          Name: PullOut
+                          Name: StartPlanner
                           Namespaces:
                             {}
                           Topic:
                             Depth: 5
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/pull_out
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
@@ -2028,15 +2028,15 @@ Visualization Manager:
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
-                          Name: Info (PullOut)
+                          Name: Info (StartPlanner)
                           Namespaces:
                             {}
                           Topic:
                             Depth: 5
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_out
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/start_planner
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false