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refactor(out_of_lane): remove from behavior_velocity #7359

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merged 2 commits into from
Jun 9, 2024
Merged

refactor(out_of_lane): remove from behavior_velocity #7359

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ca01cac
refactor(out_of_lane): remove from behavior_velocity
maxime-clem Jun 7, 2024
002f08c
remove out_of_lane from test
maxime-clem Jun 9, 2024
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1 change: 0 additions & 1 deletion .github/CODEOWNERS
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Validating CODEOWNERS rules …
Original file line number Diff line number Diff line change
Expand Up @@ -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]
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7 changes: 0 additions & 7 deletions ...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>

Expand Down Expand Up @@ -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;)"
Expand Down Expand Up @@ -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 -->
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4 changes: 2 additions & 2 deletions ...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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;]"/>

Expand All @@ -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" -->
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1 change: 0 additions & 1 deletion planning/.pages
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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2 changes: 0 additions & 2 deletions planning/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/> -->
Expand Down Expand Up @@ -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)"/> -->
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1 change: 0 additions & 1 deletion planning/autoware_behavior_velocity_planner/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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2 changes: 0 additions & 2 deletions planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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
Expand Down
12 changes: 0 additions & 12 deletions planning/behavior_velocity_out_of_lane_module/CMakeLists.txt
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165 changes: 0 additions & 165 deletions planning/behavior_velocity_out_of_lane_module/README.md
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