refactor(out_of_lane): remove from behavior_velocity (#1020)

Signed-off-by: Maxime CLEMENT <[email protected]>
autowarefoundation · Jun 9, 2024 · 7f8a7af · 7f8a7af
1 parent 257a024
commit 7f8a7af
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Showing 4 changed files with 1 addition and 75 deletions.
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -74,9 +74,6 @@ launch:
   - arg:
       name: launch_speed_bump_module
       default: "false"
-  - arg:
-      name: launch_out_of_lane_module
-      default: "false"
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
@@ -100,7 +97,7 @@ launch:
 
   # motion velocity planner modules
   - arg:
-      name: launch_motion_out_of_lane_module
+      name: launch_out_of_lane_module
       default: "true"
 
   - arg:

diff --git a/..._planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/..._planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -57,7 +57,6 @@
     <arg name="behavior_velocity_planner_no_stopping_area_module_param_path" value="$(var behavior_velocity_config_path)/no_stopping_area.param.yaml"/>
     <arg name="behavior_velocity_planner_run_out_module_param_path" value="$(var behavior_velocity_config_path)/run_out.param.yaml"/>
     <arg name="behavior_velocity_planner_speed_bump_module_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
-    <arg name="behavior_velocity_planner_out_of_lane_module_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
     <arg name="behavior_velocity_planner_no_drivable_lane_module_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
     <arg name="behavior_velocity_planner_dynamic_obstacle_stop_module_param_path" value="$(var behavior_velocity_config_path)/dynamic_obstacle_stop.param.yaml"/>
     <arg name="compare_map_filter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml"/>

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1605,18 +1605,6 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump
                           Value: true
-                        - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
-                          Name: VirtualWall (OutOfLane)
-                          Namespaces:
-                            {}
-                          Topic:
-                            Depth: 5
-                            Durability Policy: Volatile
-                            History Policy: Keep Last
-                            Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane
-                          Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
                           Name: VirtualWall (NoDrivableLane)
@@ -1873,18 +1861,6 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump
                           Value: false
-                        - Class: rviz_default_plugins/MarkerArray
-                          Enabled: false
-                          Name: OutOfLane
-                          Namespaces:
-                            {}
-                          Topic:
-                            Depth: 5
-                            Durability Policy: Volatile
-                            History Policy: Keep Last
-                            Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane
-                          Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
                           Name: DynamicObstacleAvoidance
@@ -2589,7 +2565,6 @@ Visualization Manager:
                           NoDrivableLane: true
                           NoStoppingArea: true
                           OcclusionSpot: true
-                          OutOfLane: true
                           RightLaneChange: true
                           RunOut: true
                           SideShift: true
@@ -2643,7 +2618,6 @@ Visualization Manager:
                           VirtualWall (NoDrivableLane): true
                           VirtualWall (NoStoppingArea): true
                           VirtualWall (OcclusionSpot): true
-                          VirtualWall (OutOfLane): true
                           VirtualWall (RunOut): true
                           VirtualWall (SpeedBump): true
                           VirtualWall (StartPlanner): true