refactor(out_of_lane): remove from behavior_velocity (#7359)

Signed-off-by: Maxime CLEMENT <[email protected]>

.github/CODEOWNERS

@@ -178,7 +178,6 @@ planning/behavior_velocity_intersection_module/** [email protected] mamo
 planning/behavior_velocity_no_drivable_lane_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_no_stopping_area_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_occlusion_spot_module/** [email protected] [email protected] [email protected]
-planning/behavior_velocity_out_of_lane_module/** [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_velocity_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -32,7 +32,6 @@
   <arg name="launch_occlusion_spot_module" default="true"/>
   <arg name="launch_run_out_module" default="true"/>
   <arg name="launch_speed_bump_module" default="true"/>
-  <arg name="launch_out_of_lane_module" default="true"/>
   <arg name="launch_no_drivable_lane_module" default="true"/>
   <arg name="launch_dynamic_obstacle_stop_module" default="true"/>
 
@@ -164,11 +163,6 @@
     value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::SpeedBumpModulePlugin, '&quot;)"
     if="$(var launch_speed_bump_module)"
   />
-  <let
-    name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::OutOfLaneModulePlugin, '&quot;)"
-    if="$(var launch_out_of_lane_module)"
-  />
   <let
     name="behavior_velocity_planner_launch_modules"
     value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::NoDrivableLaneModulePlugin, '&quot;)"
@@ -261,7 +255,6 @@
       <param from="$(var behavior_velocity_planner_no_stopping_area_module_param_path)"/>
       <param from="$(var behavior_velocity_planner_run_out_module_param_path)"/>
       <param from="$(var behavior_velocity_planner_speed_bump_module_param_path)"/>
-      <param from="$(var behavior_velocity_planner_out_of_lane_module_param_path)"/>
       <param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/>
       <param from="$(var behavior_velocity_planner_dynamic_obstacle_stop_module_param_path)"/>
       <!-- composable node config -->

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

@@ -2,7 +2,7 @@
   <arg name="interface_input_topic" default="/planning/scenario_planning/lane_driving/behavior_planning/path"/>
   <arg name="interface_output_topic" default="/planning/scenario_planning/lane_driving/trajectory"/>
 
-  <arg name="launch_motion_out_of_lane_module" default="true"/>
+  <arg name="launch_out_of_lane_module" default="true"/>
   <!-- <arg name="launch_dynamic_obstacle_stop_module" default="true"/> -->
   <arg name="launch_module_list_end" default="&quot;&quot;]"/>
 
@@ -11,7 +11,7 @@
   <let
     name="motion_velocity_planner_launch_modules"
     value="$(eval &quot;'$(var motion_velocity_planner_launch_modules)' + 'autoware::motion_velocity_planner::OutOfLaneModule, '&quot;)"
-    if="$(var launch_motion_out_of_lane_module)"
+    if="$(var launch_out_of_lane_module)"
   />
   <!-- <let -->
   <!--   name="motion_velocity_planner_launch_modules" -->

planning/.pages

@@ -29,7 +29,6 @@ nav:
         - 'No Drivable Lane': planning/behavior_velocity_no_drivable_lane_module
         - 'No Stopping Area': planning/behavior_velocity_no_stopping_area_module
         - 'Occlusion Spot': planning/behavior_velocity_occlusion_spot_module
-        - 'Out of Lane': planning/behavior_velocity_out_of_lane_module
         - 'Run Out': planning/autoware_behavior_velocity_run_out_module
         - 'Speed Bump': planning/behavior_velocity_speed_bump_module
         - 'Stop Line': planning/behavior_velocity_stop_line_module

planning/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml

@@ -24,7 +24,6 @@
   <arg name="behavior_velocity_planner_no_stopping_area_module_param_path"/>
   <arg name="behavior_velocity_planner_run_out_module_param_path"/>
   <arg name="behavior_velocity_planner_speed_bump_module_param_path"/>
-  <arg name="behavior_velocity_planner_out_of_lane_module_param_path"/>
   <arg name="behavior_velocity_planner_no_drivable_lane_module_param_path"/>
   <arg name="behavior_velocity_planner_dynamic_obstacle_stop_module_param_path"/>
   <!-- <arg name="behavior_velocity_planner_template_module_param_path"/> -->
@@ -68,7 +67,6 @@
     <param from="$(var behavior_velocity_planner_no_stopping_area_module_param_path)"/>
     <param from="$(var behavior_velocity_planner_run_out_module_param_path)"/>
     <param from="$(var behavior_velocity_planner_speed_bump_module_param_path)"/>
-    <param from="$(var behavior_velocity_planner_out_of_lane_module_param_path)"/>
     <param from="$(var behavior_velocity_planner_no_drivable_lane_module_param_path)"/>
     <param from="$(var behavior_velocity_planner_dynamic_obstacle_stop_module_param_path)"/>
     <!-- <param from="$(var behavior_velocity_planner_template_param_path)"/> -->

planning/autoware_behavior_velocity_planner/package.xml

@@ -76,7 +76,6 @@
   <test_depend>behavior_velocity_no_drivable_lane_module</test_depend>
   <test_depend>behavior_velocity_no_stopping_area_module</test_depend>
   <test_depend>behavior_velocity_occlusion_spot_module</test_depend>
-  <test_depend>behavior_velocity_out_of_lane_module</test_depend>
   <test_depend>behavior_velocity_speed_bump_module</test_depend>
   <test_depend>behavior_velocity_stop_line_module</test_depend>
   <test_depend>behavior_velocity_traffic_light_module</test_depend>

planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp

@@ -81,7 +81,6 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   module_names.emplace_back("autoware::behavior_velocity_planner::OcclusionSpotModulePlugin");
   module_names.emplace_back("autoware::behavior_velocity_planner::RunOutModulePlugin");
   module_names.emplace_back("autoware::behavior_velocity_planner::SpeedBumpModulePlugin");
-  module_names.emplace_back("autoware::behavior_velocity_planner::OutOfLaneModulePlugin");
   module_names.emplace_back("autoware::behavior_velocity_planner::NoDrivableLaneModulePlugin");
 
   std::vector<rclcpp::Parameter> params;
@@ -108,7 +107,6 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
                    get_behavior_velocity_module_config_no_prefix("stop_line"),
                    get_behavior_velocity_module_config_no_prefix("traffic_light"),
                    get_behavior_velocity_module_config("virtual_traffic_light"),
-                   get_behavior_velocity_module_config_no_prefix("out_of_lane"),
                    get_behavior_velocity_module_config_no_prefix("no_drivable_lane")});
 
   // TODO(Takagi, Isamu): set launch_modules