From 77f5817b659b650ab0f03ebde54f9ffc815eafb0 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 1 Oct 2023 22:23:45 +0900 Subject: [PATCH] feat(autoware_launch): reorder intersection and merge_from_private Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index 7a0ef047f7..590ef7e154 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -8,12 +8,15 @@ system_delay: 0.5 delay_response_time: 0.5 is_publish_debug_path: false # publish all debug path with lane id in each module + + # NOTE: The following order is the same as the order to launch modules. + # Changing the order may change its behavior. launch_modules: - behavior_velocity_planner::CrosswalkModulePlugin - behavior_velocity_planner::WalkwayModulePlugin - behavior_velocity_planner::TrafficLightModulePlugin - - behavior_velocity_planner::IntersectionModulePlugin # Intersection module should be before merge from private to declare intersection parameters. - behavior_velocity_planner::MergeFromPrivateModulePlugin + - behavior_velocity_planner::IntersectionModulePlugin # Intersection module considers the stop point in the input path including the result of above modules. - behavior_velocity_planner::BlindSpotModulePlugin - behavior_velocity_planner::DetectionAreaModulePlugin # behavior_velocity_planner::VirtualTrafficLightModulePlugin