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

…undation#565) * refactor(pull_out): consolidate similar function (autowarefoundation#3803) * consolidate planWithPriority function Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add comments Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactoring Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactoring Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change arg type Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Update planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp * Update planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * refactor(start_planner): rename pull out to start planner (autowarefoundation#3908) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
soblin · Jun 8, 2023 · d1a1fde · d1a1fde
1 parent 5576724
commit d1a1fde
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Showing 45 changed files with 299 additions and 321 deletions.
diff --git a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp
@@ -66,8 +66,8 @@ std::string getModuleName(const uint8_t module_type)
     case Module::GOAL_PLANNER: {
       return "goal_planner";
     }
-    case Module::PULL_OUT: {
-      return "pull_out";
+    case Module::START_PLANNER: {
+      return "start_planner";
     }
     case Module::TRAFFIC_LIGHT: {
       return "traffic_light";
@@ -105,7 +105,7 @@ bool isPathChangeModule(const uint8_t module_type)
     module_type == Module::EXT_REQUEST_LANE_CHANGE_RIGHT ||
     module_type == Module::AVOIDANCE_BY_LC_LEFT || module_type == Module::AVOIDANCE_BY_LC_RIGHT ||
     module_type == Module::AVOIDANCE_LEFT || module_type == Module::AVOIDANCE_RIGHT ||
-    module_type == Module::GOAL_PLANNER || module_type == Module::PULL_OUT) {
+    module_type == Module::GOAL_PLANNER || module_type == Module::START_PLANNER) {
     return true;
   }
   return false;

diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
@@ -232,8 +232,8 @@ void VelocitySteeringFactorsPanel::onSteeringFactors(const SteeringFactorArray::
         case SteeringFactor::STATION:
           label->setText("STATION");
           break;
-        case SteeringFactor::PULL_OUT:
-          label->setText("PULL_OUT");
+        case SteeringFactor::START_PLANNER:
+          label->setText("START_PLANNER");
           break;
         case SteeringFactor::GOAL_PLANNER:
           label->setText("GOAL_PLANNER");

diff --git a/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml
@@ -24,7 +24,7 @@
   <arg name="dynamic_avoidance_param_path"/>
   <arg name="lane_change_param_path"/>
   <arg name="goal_planner_param_path"/>
-  <arg name="pull_out_param_path"/>
+  <arg name="start_planner_param_path"/>
   <arg name="drivable_area_expansion_param_path"/>
   <arg name="behavior_path_planner_param_path"/>
   <!-- behavior velocity planner -->

diff --git a/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -55,8 +55,8 @@ def launch_setup(context, *args, **kwargs):
         lane_change_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     with open(LaunchConfiguration("goal_planner_param_path").perform(context), "r") as f:
         goal_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"]
-    with open(LaunchConfiguration("pull_out_param_path").perform(context), "r") as f:
-        pull_out_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+    with open(LaunchConfiguration("start_planner_param_path").perform(context), "r") as f:
+        start_planner_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     with open(LaunchConfiguration("drivable_area_expansion_param_path").perform(context), "r") as f:
         drivable_area_expansion_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     with open(LaunchConfiguration("scene_module_manager_param_path").perform(context), "r") as f:
@@ -96,7 +96,7 @@ def launch_setup(context, *args, **kwargs):
             dynamic_avoidance_param,
             lane_change_param,
             goal_planner_param,
-            pull_out_param,
+            start_planner_param,
             drivable_area_expansion_param,
             scene_module_manager_param,
             behavior_path_planner_param,

diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml
@@ -9,7 +9,7 @@
   <maintainer email="zulfaqar.azmi@tier4.jp">Zulfaqar Azmi</maintainer>
   <!-- goal planner module -->
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
-  <!-- pull out module -->
+  <!-- start planner module -->
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
   <!-- side shift module -->
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>

diff --git a/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/rviz/centerpoint.rviz b/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/rviz/centerpoint.rviz
@@ -1225,15 +1225,15 @@ 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/pullout
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/startplanner
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false

diff --git a/...ption/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/rviz/centerpoint_tiny.rviz b/...ption/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/rviz/centerpoint_tiny.rviz
@@ -1226,15 +1226,15 @@ 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/pullout
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/startplanner
                           Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false

diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt
@@ -15,7 +15,7 @@ set(common_src
   src/scene_module/scene_module_visitor.cpp
   src/scene_module/avoidance/avoidance_module.cpp
   src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
-  src/scene_module/pull_out/pull_out_module.cpp
+  src/scene_module/start_planner/start_planner_module.cpp
   src/scene_module/goal_planner/goal_planner_module.cpp
   src/scene_module/side_shift/side_shift_module.cpp
   src/scene_module/lane_change/interface.cpp
@@ -35,9 +35,9 @@ set(common_src
   src/utils/goal_planner/freespace_pull_over.cpp
   src/utils/goal_planner/goal_searcher.cpp
   src/utils/goal_planner/default_fixed_goal_planner.cpp
-  src/utils/pull_out/util.cpp
-  src/utils/pull_out/shift_pull_out.cpp
-  src/utils/pull_out/geometric_pull_out.cpp
+  src/utils/start_planner/util.cpp
+  src/utils/start_planner/shift_pull_out.cpp
+  src/utils/start_planner/geometric_pull_out.cpp
   src/utils/path_shifter/path_shifter.cpp
   src/utils/drivable_area_expansion/drivable_area_expansion.cpp
   src/utils/drivable_area_expansion/map_utils.cpp
@@ -67,7 +67,7 @@ else()
     src/planner_manager.cpp
     src/scene_module/avoidance/manager.cpp
     src/scene_module/dynamic_avoidance/manager.cpp
-    src/scene_module/pull_out/manager.cpp
+    src/scene_module/start_planner/manager.cpp
     src/scene_module/goal_planner/manager.cpp
     src/scene_module/side_shift/manager.cpp
     src/scene_module/lane_change/manager.cpp

diff --git a/planning/behavior_path_planner/README.md b/planning/behavior_path_planner/README.md
@@ -16,16 +16,16 @@ The `behavior_path_planner` module is responsible to generate
 
 Behavior path planner has following scene modules.
 
-| Name                 | Description                                                                                                                                                                | Details                                                     |
-| :------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------- |
-| Lane Following       | this module generates reference path from lanelet centerline.                                                                                                              | LINK                                                        |
-| Avoidance            | this module generates avoidance path when there is objects that should be avoid.                                                                                           | [LINK](./docs/behavior_path_planner_avoidance_design.md)    |
-| Avoidance By LC      | this module generates lane change path when there is objects that should be avoid.                                                                                         | LINK                                                        |
-| Lane Change          | this module is performed when it is necessary and a collision check with other vehicles is cleared.                                                                        | [LINK](./docs/behavior_path_planner_lane_change_design.md)  |
-| External Lane Change | WIP                                                                                                                                                                        | LINK                                                        |
-| Goal Planner         | this module is performed when ego-vehicle is in the road lane and goal is in the shoulder lane. ego-vehicle will stop at the goal.                                         | [LINK](./docs/behavior_path_planner_goal_planner_design.md) |
-| Pull Out             | this module is performed when ego-vehicle is stationary and footprint of ego-vehicle is included in shoulder lane. This module ends when ego-vehicle merges into the road. | [LINK](./docs/behavior_path_planner_pull_out_design.md)     |
-| Side Shift           | (for remote control) shift the path to left or right according to an external instruction.                                                                                 | [LINK](./docs/behavior_path_planner_side_shift_design.md)   |
+| Name                 | Description                                                                                                                                                                | Details                                                      |
+| :------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------------------------------------------------------- |
+| Lane Following       | this module generates reference path from lanelet centerline.                                                                                                              | LINK                                                         |
+| Avoidance            | this module generates avoidance path when there is objects that should be avoid.                                                                                           | [LINK](./docs/behavior_path_planner_avoidance_design.md)     |
+| Avoidance By LC      | this module generates lane change path when there is objects that should be avoid.                                                                                         | LINK                                                         |
+| Lane Change          | this module is performed when it is necessary and a collision check with other vehicles is cleared.                                                                        | [LINK](./docs/behavior_path_planner_lane_change_design.md)   |
+| External Lane Change | WIP                                                                                                                                                                        | LINK                                                         |
+| Goal Planner         | this module is performed when ego-vehicle is in the road lane and goal is in the shoulder lane. ego-vehicle will stop at the goal.                                         | [LINK](./docs/behavior_path_planner_goal_planner_design.md)  |
+| Pull Out             | this module is performed when ego-vehicle is stationary and footprint of ego-vehicle is included in shoulder lane. This module ends when ego-vehicle merges into the road. | [LINK](./docs/behavior_path_planner_start_planner_design.md) |
+| Side Shift           | (for remote control) shift the path to left or right according to an external instruction.                                                                                 | [LINK](./docs/behavior_path_planner_side_shift_design.md)    |
 
 ![behavior_modules](./image/behavior_modules.png)
 

diff --git a/planning/behavior_path_planner/config/behavior_path_planner_tree.xml b/planning/behavior_path_planner/config/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"/>
@@ -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/planning/behavior_path_planner/config/behavior_path_planner_tree_lane_change_only.xml b/planning/behavior_path_planner/config/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/planning/behavior_path_planner/config/behavior_path_planner_tree_lane_change_only_old.xml b/planning/behavior_path_planner/config/behavior_path_planner_tree_lane_change_only_old.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/planning/behavior_path_planner/config/behavior_path_planner_tree_old.xml b/planning/behavior_path_planner/config/behavior_path_planner_tree_old.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="SideShift_Request"/>
@@ -83,11 +83,11 @@
         </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/planning/behavior_path_planner/config/behavior_path_planner_tree_pull_out.xml b/planning/behavior_path_planner/config/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/...ning/behavior_path_planner/config/behavior_path_planner_tree_with_external_request_LC.xml b/...ning/behavior_path_planner/config/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/planning/behavior_path_planner/config/scene_module_manager.param.yaml b/planning/behavior_path_planner/config/scene_module_manager.param.yaml
@@ -31,7 +31,7 @@
       priority: 5
       max_module_size: 1
 
-    pull_out:
+    start_planner:
       enable_module: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false

diff --git a/...anner/config/pull_out/pull_out.param.yaml → ...ig/start_planner/start_planner.param.yaml b/...anner/config/pull_out/pull_out.param.yaml → ...ig/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