diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index dd8031b0438c6..c14ee08406839 100644 --- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -1,5 +1,7 @@ /**: ros__parameters: + planning_hz: 10.0 + backward_path_length: 5.0 forward_path_length: 300.0 backward_length_buffer_for_end_of_lane: 5.0 diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index 82a77203343f7..5f4466565473b 100644 --- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -1,5 +1,7 @@ /**: ros__parameters: + enable_slow_down: False + stop_planner: stop_margin: 5.0 # stop margin distance from obstacle on the path [m] min_behavior_stop_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] diff --git a/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml index 94dd7d853776d..3c88c09c2cdf5 100644 --- a/launch/tier4_planning_launch/launch/planning.launch.xml +++ b/launch/tier4_planning_launch/launch/planning.launch.xml @@ -6,6 +6,10 @@ + + + + @@ -22,6 +26,10 @@ + + + + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml index 241c2e948d28c..35ef6e549489a 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml @@ -6,6 +6,9 @@ + + + @@ -18,6 +21,7 @@ + + + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 8b917ccbc2f3e..1cd3e23562d63 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -41,6 +41,8 @@ def launch_setup(context, *args, **kwargs): vehicle_info_param = yaml.safe_load(f)["/**"]["ros__parameters"] # behavior path planner + bt_tree_config_path = LaunchConfiguration("bt_tree_config_file").perform(context) + side_shift_param_path = os.path.join( get_package_share_directory("tier4_planning_launch"), "config", @@ -180,13 +182,7 @@ def launch_setup(context, *args, **kwargs): pull_out_param, behavior_path_planner_param, vehicle_info_param, - { - "bt_tree_config_path": [ - FindPackageShare("behavior_path_planner"), - "/config/behavior_path_planner_tree.xml", - ], - "planning_hz": 10.0, - }, + {"bt_tree_config_path": bt_tree_config_path}, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index 0aad10cb6812c..bb6d7c8b609e6 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -73,8 +73,6 @@ def launch_setup(context, *args, **kwargs): parameters=[ obstacle_avoidance_planner_param, vehicle_info_param, - {"is_showing_debug_info": False}, - {"is_stopping_if_outside_drivable_area": True}, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) @@ -168,7 +166,6 @@ def launch_setup(context, *args, **kwargs): obstacle_stop_planner_param, obstacle_stop_planner_acc_param, vehicle_info_param, - {"enable_slow_down": False}, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) @@ -291,9 +288,9 @@ def add_launch_arg(name: str, default_value=None, description=None): ) # surround obstacle checker - add_launch_arg("use_surround_obstacle_check", "true", "launch surround_obstacle_checker or not") + add_launch_arg("use_surround_obstacle_check", None, "launch surround_obstacle_checker or not") add_launch_arg( - "cruise_planner", "obstacle_stop_planner", "cruise planner type" + "cruise_planner", None, "cruise planner type" ) # select from "obstacle_stop_planner", "obstacle_cruise_planner", "none" add_launch_arg("use_intra_process", "false", "use ROS2 component container communication") diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml index 35f178ab03375..b9de5203c719b 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml @@ -6,6 +6,10 @@ + + + + @@ -28,7 +32,6 @@ - @@ -47,6 +50,9 @@ + + + diff --git a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml index e809e47b05228..bf905ed5dfdd4 100644 --- a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml +++ b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml @@ -1,5 +1,7 @@ /**: ros__parameters: + planning_hz: 10.0 + backward_path_length: 5.0 forward_path_length: 200.0 backward_length_buffer_for_end_of_lane: 5.0 diff --git a/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml b/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml index c4be8d7c35789..7e60a2b1264c2 100644 --- a/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml +++ b/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml @@ -1,5 +1,7 @@ /**: ros__parameters: + enable_slow_down: False + stop_planner: stop_margin: 5.0 # stop margin distance from obstacle on the path [m] min_behavior_stop_margin: 2.0 # stop margin distance when any other stop point is inserted in stop margin [m]