From dba73df0fc05193100070860277302610c7fbf56 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 14 Mar 2023 08:15:26 +0900 Subject: [PATCH] feat(lane_change): support param for new framework (include external lc) (#248) * feat(lane_change): support param for new framework (include external lc) Signed-off-by: Muhammad Zulfaqar * rename external lane change Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner.param.yaml | 20 ++++++++++++++++++- 1 file changed, 19 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 386ef65825ea0..fb1a632614a25 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -40,7 +40,25 @@ # USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE. # https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt # NOTE: The smaller the priority number is, the higher the module priority is. - lane_change: + ext_request_lane_change_left: + enable_module: true + enable_simultaneous_execution: true + priority: 6 + max_module_size: 1 + + ext_request_lane_change_right: + enable_module: true + enable_simultaneous_execution: true + priority: 6 + max_module_size: 1 + + lane_change_left: + enable_module: true + enable_simultaneous_execution: false + priority: 5 + max_module_size: 1 + + lane_change_right: enable_module: true enable_simultaneous_execution: false priority: 4