feat(behavior_velocity_detection_area): use base class without RTC

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Dec 27, 2024 · 4673814 · 4673814
1 parent a313653
commit 4673814
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Showing 4 changed files with 6 additions and 21 deletions.
diff --git a/...planner/autoware_behavior_velocity_detection_area_module/config/detection_area.param.yaml b/...planner/autoware_behavior_velocity_detection_area_module/config/detection_area.param.yaml
@@ -8,5 +8,4 @@
       state_clear_time: 2.0
       hold_stop_margin_distance: 0.0
       distance_to_judge_over_stop_line: 0.5
-      enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
       suppress_pass_judge_when_stopping: false
diff --git a/...ehavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp b/...ehavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp
@@ -34,8 +34,7 @@ using autoware::universe_utils::getOrDeclareParameter;
 using lanelet::autoware::DetectionArea;
 
 DetectionAreaModuleManager::DetectionAreaModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(
-    node, getModuleName(), getEnableRTC(node, std::string(getModuleName()) + ".enable_rtc"))
+: SceneModuleManagerInterface(node, getModuleName())
 {
   const std::string ns(DetectionAreaModuleManager::getModuleName());
   planner_param_.stop_margin = getOrDeclareParameter<double>(node, ns + ".stop_margin");
@@ -66,10 +65,6 @@ void DetectionAreaModuleManager::launchNewModules(
       registerModule(std::make_shared<DetectionAreaModule>(
         module_id, lane_id, *detection_area_with_lane_id.first, planner_param_,
         logger_.get_child("detection_area_module"), clock_));
-      generateUUID(module_id);
-      updateRTCStatus(
-        getUUID(module_id), true, State::WAITING_FOR_EXECUTION,
-        std::numeric_limits<double>::lowest(), path.header.stamp);
     }
   }
 }

diff --git a/...ehavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.hpp b/...ehavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.hpp
@@ -29,7 +29,7 @@
 
 namespace autoware::behavior_velocity_planner
 {
-class DetectionAreaModuleManager : public SceneModuleManagerInterfaceWithRTC
+class DetectionAreaModuleManager : public SceneModuleManagerInterface<>
 {
 public:
   explicit DetectionAreaModuleManager(rclcpp::Node & node);

diff --git a/.../behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/.../behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp
@@ -105,18 +105,12 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path)
     modified_stop_line_seg_idx = current_seg_idx;
   }
 
-  setDistance(stop_dist);
-
   // Check state
-  setSafe(detection_area::can_clear_stop_state(
-    last_obstacle_found_time_, clock_->now(), planner_param_.state_clear_time));
-  if (isActivated()) {
-    last_obstacle_found_time_ = {};
-    if (!planner_param_.suppress_pass_judge_when_stopping || !is_stopped) {
-      state_ = State::GO;
-    }
-    return true;
+  last_obstacle_found_time_ = {};
+  if (!planner_param_.suppress_pass_judge_when_stopping || !is_stopped) {
+    state_ = State::GO;
   }
+  return true;
 
   // Force ignore objects after dead_line
   if (planner_param_.use_dead_line) {
@@ -139,7 +133,6 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path)
         dead_line_seg_idx);
       if (dist_from_ego_to_dead_line < 0.0) {
         RCLCPP_WARN(logger_, "[detection_area] vehicle is over dead line");
-        setSafe(true);
         return true;
       }
     }
@@ -152,7 +145,6 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path)
   if (
     state_ != State::STOP &&
     dist_from_ego_to_stop < -planner_param_.distance_to_judge_over_stop_line) {
-    setSafe(true);
     return true;
   }
 
@@ -169,7 +161,6 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path)
       RCLCPP_WARN_THROTTLE(
         logger_, *clock_, std::chrono::milliseconds(1000).count(),
         "[detection_area] vehicle is over stop border");
-      setSafe(true);
       return true;
     }
   }