From 9d9eb334818b0eb8b42d4d0f8d676626f19da381 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Sat, 7 Oct 2023 17:20:43 +0900 Subject: [PATCH] feat(rtc_auto_mode_manager): eliminate rtc auto mode manager (#625) * disable RTC Signed-off-by: kyoichi-sugahara * remove rtc auto mode manager Signed-off-by: kyoichi-sugahara * fix file name Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../scene_module_manager.param.yaml | 20 +++++++++---------- .../blind_spot.param.yaml | 2 +- .../crosswalk.param.yaml | 2 +- .../detection_area.param.yaml | 2 +- .../intersection.param.yaml | 4 ++-- .../no_stopping_area.param.yaml | 2 +- .../traffic_light.param.yaml | 2 +- .../rtc_replayer.param.yaml} | 0 .../tier4_planning_component.launch.xml | 3 --- 9 files changed, 17 insertions(+), 20 deletions(-) rename autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/{rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml => rtc_replayer/rtc_replayer.param.yaml} (100%) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index ff4b486ef9..1fc83edd08 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -5,7 +5,7 @@ ros__parameters: external_request_lane_change_left: enable_module: false - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true keep_last: false @@ -14,7 +14,7 @@ external_request_lane_change_right: enable_module: false - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true keep_last: false @@ -23,7 +23,7 @@ lane_change_left: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: false @@ -32,7 +32,7 @@ lane_change_right: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: false @@ -41,7 +41,7 @@ start_planner: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: false @@ -50,7 +50,7 @@ side_shift: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: false @@ -59,7 +59,7 @@ goal_planner: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: true @@ -68,7 +68,7 @@ avoidance: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: false @@ -77,7 +77,7 @@ avoidance_by_lc: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: false @@ -86,7 +86,7 @@ dynamic_avoidance: enable_module: false - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: true diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml index 8a57bfeabd..0950ece4ae 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml @@ -8,4 +8,4 @@ max_future_movement_time: 10.0 # [second] threshold_yaw_diff: 0.523 # [rad] adjacent_extend_width: 1.5 # [m] - 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. + 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. 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 4b81a1e687..d99c70c5f6 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: 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. + 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. # param for stop position stop_position: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml index 55b627cce7..ddd8b934d2 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml @@ -8,4 +8,4 @@ state_clear_time: 2.0 hold_stop_margin_distance: 0.0 distance_to_judge_over_stop_line: 0.5 - 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. + 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. 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 a303b78af9..4b8f15ab27 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 @@ -66,8 +66,8 @@ attention_lane_curvature_calculation_ds: 0.5 enable_rtc: - intersection: 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 - intersection_to_occlusion: true + intersection: 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 + intersection_to_occlusion: false merge_from_private: stop_line_margin: 3.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml index f550188d4f..c84848f8cc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml @@ -8,4 +8,4 @@ stop_line_margin: 1.0 # [m] margin to auto-gen stop line at no stopping area detection_area_length: 200.0 # [m] used to create detection area polygon stuck_vehicle_front_margin: 6.0 # [m] obstacle stop max distance(5.0m) - 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 + 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 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 e8e0357daa..a837ae1b46 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 @@ -5,4 +5,4 @@ tl_state_timeout: 1.0 yellow_lamp_period: 2.75 enable_pass_judge: true - 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 + 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 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_replayer/rtc_replayer.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_replayer/rtc_replayer.param.yaml diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index ad55c76d82..a1cb2b79f5 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -25,9 +25,6 @@ - - -