Merge pull request #34 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
tier4 · Apr 7, 2023 · ca56559 · ca56559
2 parents b6842c8 + 07c5d74
commit ca56559
Show file tree

Hide file tree

Showing 3 changed files with 21 additions and 11 deletions.
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -23,6 +23,7 @@
     turn_signal_on_swerving: true
 
     enable_akima_spline_first: false
+    enable_cog_on_centerline: false
     input_path_interval: 2.0
     output_path_interval: 2.0
 

diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -17,8 +17,8 @@
       lane_change_sampling_num: 3
 
       # collision check
-      enable_collision_check_at_prepare_phase: false
-      prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s]
+      enable_prepare_segment_collision_check: false
+      prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
       use_predicted_path_outside_lanelet: false
       use_all_predicted_path: false
 

diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -5,55 +5,64 @@
   ros__parameters:
     external_request_lane_change_left:
       enable_module: false
-      enable_simultaneous_execution: false
+      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: false
-      enable_simultaneous_execution: false
+      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: 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: 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: false
+      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: false
+      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: false
+      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: 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: false
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: false
       priority: 3
       max_module_size: 1