From 0d7627e7ea4f878fc0753f70763ba72408f5d85e Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Tue, 30 Jan 2024 15:56:55 +0900 Subject: [PATCH] feat(behavior_velocity_planner): enable enable_rtc (#757) Signed-off-by: Shumpei Wakabayashi --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 +- .../behavior_velocity_planner/intersection.param.yaml | 4 ++-- .../behavior_velocity_planner/traffic_light.param.yaml | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index ff488bb4a7..2156bfc492 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_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/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 19ce575799..685d5f9438 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_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/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml index 0fb3871a9c..db732aa586 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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