From 823e72c005bbdb7461758e1369c471ebb7e5981a Mon Sep 17 00:00:00 2001
From: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com>
Date: Wed, 11 Jan 2023 18:33:34 +0300
Subject: [PATCH] feat(autoware_launch): add speed bump parameters (#138)

Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>
---
 .../behavior_velocity_planner.param.yaml            |  1 +
 .../behavior_velocity_planner/speed_bump.param.yaml | 13 +++++++++++++
 .../components/tier4_planning_component.launch.xml  |  1 +
 3 files changed, 15 insertions(+)
 create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
index 1e0777ecf994a..7aab0af21f80a 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -10,6 +10,7 @@
     launch_occlusion_spot: true
     launch_no_stopping_area: true
     launch_run_out: false
+    launch_speed_bump: false
     forward_path_length: 1000.0
     backward_path_length: 5.0
     max_accel: -2.8
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml
new file mode 100644
index 0000000000000..ef61bdb7439ec
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml
@@ -0,0 +1,13 @@
+/**:
+  ros__parameters:
+    speed_bump:
+      slow_start_margin: 1.0
+      slow_end_margin: 1.0
+      print_debug_info: false
+
+      # limits for speed bump height and slow down speed to create a linear equation
+      speed_calculation:
+        min_height: 0.05 # [m]
+        max_height: 0.30 # [m]
+        min_speed: 1.39  # [m/s] = [5 kph]
+        max_speed: 2.78  # [m/s] = [10 kph]
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 9b3855739d9f8..730219e78868a 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -70,6 +70,7 @@
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml"
     />
     <arg name="run_out_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml"/>
+    <arg name="speed_bump_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml"/>
     <arg
       name="behavior_velocity_planner_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml"