From 66bc2220e02fa4de81dcb2be46634e9203b7545e Mon Sep 17 00:00:00 2001
From: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date: Mon, 24 Apr 2023 09:15:38 +0900
Subject: [PATCH] feat: change planning parameters (#453)

* feat: add scene_module_manager setting with foa

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* feat: disable no_topping_area

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* feat: set proper rtc manager settings

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* feat: enable force_avoidance_for_stopped_vehicle

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Co-authored-by: tkimura4 <tkimura4@users.noreply.github.com>
---
 .../avoidance/avoidance.param.yaml            |  2 +-
 .../scene_module_manager_foa.param.yaml       | 68 +++++++++++++++++++
 .../behavior_velocity_planner.param.yaml      |  2 +-
 .../rtc_auto_mode_manager.param.yaml          |  4 --
 .../rtc_auto_mode_manager_foa.param.yaml      |  3 +-
 autoware_launch/launch/autoware.launch.xml    | 17 +++--
 .../tier4_planning_component.launch.xml       |  7 +-
 .../launch/planning_simulator.launch.xml      |  2 -
 8 files changed, 82 insertions(+), 23 deletions(-)
 create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index 0183c227bc..24a440730a 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -14,7 +14,7 @@
       enable_avoidance_over_same_direction: true
       enable_avoidance_over_opposite_direction: true
       enable_update_path_when_object_is_gone: false
-      enable_force_avoidance_for_stopped_vehicle: false
+      enable_force_avoidance_for_stopped_vehicle: true
       enable_safety_check: true
       enable_yield_maneuver: true
       disable_path_update: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
new file mode 100644
index 0000000000..dd5c870f1e
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
@@ -0,0 +1,68 @@
+# 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.
+/**:
+  ros__parameters:
+    external_request_lane_change_left:
+      enable_module: true
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: true
+      priority: 6
+      max_module_size: 1
+
+    external_request_lane_change_right:
+      enable_module: true
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: true
+      priority: 6
+      max_module_size: 1
+
+    lane_change_left:
+      enable_module: true
+      enable_simultaneous_execution_as_approved_module: true
+      enable_simultaneous_execution_as_candidate_module: true
+      priority: 5
+      max_module_size: 1
+
+    lane_change_right:
+      enable_module: true
+      enable_simultaneous_execution_as_approved_module: true
+      enable_simultaneous_execution_as_candidate_module: true
+      priority: 5
+      max_module_size: 1
+
+    pull_out:
+      enable_module: true
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: false
+      priority: 0
+      max_module_size: 1
+
+    side_shift:
+      enable_module: true
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: false
+      priority: 2
+      max_module_size: 1
+
+    pull_over:
+      enable_module: true
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: false
+      priority: 1
+      max_module_size: 1
+
+    avoidance:
+      enable_module: true
+      enable_simultaneous_execution_as_approved_module: true
+      enable_simultaneous_execution_as_candidate_module: false
+      priority: 4
+      max_module_size: 1
+
+    # NOTE: This module is unstable. Deprecated for now.
+    avoidance_by_lc:
+      enable_module: false
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: false
+      priority: 3
+      max_module_size: 1
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 8e939400dd..b01ec733cb 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
@@ -8,7 +8,7 @@
     launch_detection_area: true
     launch_virtual_traffic_light: false # disabled by default to not confuse newcomers
     launch_occlusion_spot: false
-    launch_no_stopping_area: true
+    launch_no_stopping_area: false
     launch_run_out: false
     launch_speed_bump: false
     launch_out_of_lane: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
index f38becc39f..7558cbc1c9 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -5,10 +5,7 @@
       - "crosswalk"
       - "detection_area"
       - "intersection"
-      - "no_stopping_area"
       - "traffic_light"
-      - "external_request_lane_change_left"
-      - "external_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"
@@ -21,7 +18,6 @@
       - "crosswalk"
       - "detection_area"
       - "intersection"
-      - "no_stopping_area"
       - "traffic_light"
       - "lane_change_left"
       - "lane_change_right"
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml
index 1f0c261b6b..6dfabbf1e2 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml
@@ -5,8 +5,9 @@
       - "crosswalk"
       - "detection_area"
       - "intersection"
-      - "no_stopping_area"
       - "traffic_light"
+      - "external_request_lane_change_left"
+      - "external_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index f08081bc5a..1af00e13ad 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -42,7 +42,6 @@
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
   <!-- Planning -->
   <arg name="use_experimental_lane_change_function" default="false"/>
-  <arg name="use_external_lane_change" default="true"/>
   <!-- Others -->
   <arg name="use_foa" default="false"/>
 
@@ -58,16 +57,16 @@
     if="$(var use_foa)"
   />
 
-  <!-- behavior path planner settings (use external lane change function or not) -->
+  <!-- external lane change setting -->
   <let
-    name="behavior_path_planner_tree_param_path"
-    value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml"
-    unless="$(var use_external_lane_change)"
+    name="scene_module_manager_param_path"
+    value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml"
+    unless="$(var use_foa)"
   />
   <let
-    name="behavior_path_planner_tree_param_path"
-    value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml"
-    if="$(var use_external_lane_change)"
+    name="scene_module_manager_param_path"
+    value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml"
+    if="$(var use_foa)"
   />
 
   <!-- Global parameters -->
@@ -127,7 +126,7 @@
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
       <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
       <arg name="rtc_auto_mode_manager_param_path" value="$(var rtc_auto_mode_manager_param_path)"/>
-      <arg name="behavior_path_planner_tree_param_path" value="$(var behavior_path_planner_tree_param_path)"/>
+      <arg name="scene_module_manager_param_path" value="$(var scene_module_manager_param_path)"/>
     </include>
   </group>
 
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index d5769becc7..f687392d95 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -3,8 +3,8 @@
   <!-- NOTE: optional parameters are written here -->
   <!-- behavior -->
   <arg name="use_experimental_lane_change_function" default="false"/>
-  <arg name="behavior_path_planner_tree_param_path"/>
   <arg name="rtc_auto_mode_manager_param_path"/>
+  <arg name="scene_module_manager_param_path"/>
   <!-- motion -->
   <arg name="cruise_planner_type" default="obstacle_cruise_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
   <arg name="use_surround_obstacle_check" default="false"/>
@@ -46,10 +46,7 @@
       name="drivable_area_expansion_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml"
     />
-    <arg
-      name="scene_module_manager_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml"
-    />
+    <arg name="scene_module_manager_param_path" value="$(var scene_module_manager_param_path)"/>
     <arg
       name="behavior_path_planner_tree_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml"
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 2f59f332d0..e7413db5aa 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -26,7 +26,6 @@
   <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
   <!-- Planning -->
   <arg name="use_experimental_lane_change_function" default="true"/>
-  <arg name="use_external_lane_change" default="false"/>
   <!-- Others -->
   <arg name="use_foa" default="false"/>
 
@@ -60,7 +59,6 @@
       <arg name="rviz_config" value="$(var rviz_config)"/>
       <!-- Planning -->
       <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
-      <arg name="use_external_lane_change" value="$(var use_external_lane_change)"/>
       <!-- Others -->
       <arg name="use_foa" value="$(var use_foa)"/>
     </include>