add yaml & load lane following params (#377)

tier4 · Nov 1, 2021 · 1b0297b · 1b0297b
1 parent 7fb1a76
commit 1b0297b
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Showing 3 changed files with 22 additions and 0 deletions.
diff --git a/..._driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml b/..._driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    lane_following:
+      expand_drivable_area: false
+      right_bound_offset: 0.5
+      left_bound_offset: 0.5
+      lane_change_prepare_duration: 2.0
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
@@ -69,6 +69,19 @@ def generate_launch_description():
     with open(lane_change_param_path, 'r') as f:
         lane_change_param = yaml.safe_load(f)['/**']['ros__parameters']
 
+    lane_following_param_path = os.path.join(
+        get_package_share_directory('planning_launch'),
+        'config',
+        'scenario_planning',
+        'lane_driving',
+        'behavior_planning',
+        'behavior_path_planner',
+        'lane_following',
+        'lane_following.param.yaml',
+    )
+    with open(lane_following_param_path, 'r') as f:
+        lane_following_param = yaml.safe_load(f)['/**']['ros__parameters']
+
     behavior_path_planner_param_path = os.path.join(
         get_package_share_directory('planning_launch'),
         'config',
@@ -113,6 +126,7 @@ def generate_launch_description():
             side_shift_param,
             avoidance_param,
             lane_change_param,
+            lane_following_param,
             behavior_path_planner_param,
             {
                 'bt_tree_config_path':

diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -19,6 +19,7 @@
     <remap from="~/output/turn_signal_cmd" to="/planning/turn_signal_decider/turn_signal_cmd" />
     <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml" />
     <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml" />
+    <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml" />
     <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml" />
     <param from="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml" />
     <param name="bt_tree_config_path" value="$(find-pkg-share behavior_path_planner)/config/behavior_path_planner_tree.xml"/>