feat(behavior_velocity_planner): enable enable_rtc (autowarefoundatio…

…n#757) Signed-off-by: Shumpei Wakabayashi <[email protected]>
maxime-clem · Jan 30, 2024 · 0d7627e · 0d7627e
1 parent 9dbbdf6
commit 0d7627e
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -5,7 +5,7 @@
         show_processing_time: false # [-] whether to show processing time
         # param for input data
         traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
-        enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+        enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
 
       # param for stop position
       stop_position:

diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -85,8 +85,8 @@
         ttc: [0]
 
       enable_rtc:
-        intersection: false
-        intersection_to_occlusion: false
+        intersection: true
+        intersection_to_occlusion: true
 
     merge_from_private:
       stopline_margin: 3.0

diff --git a/...lanning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/...lanning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
@@ -6,4 +6,4 @@
       stop_time_hysteresis: 0.1
       yellow_lamp_period: 2.75
       enable_pass_judge: true
-      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
+      enable_rtc: true # 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