feat(behavior_velocity_planner): enable auto mode without rtc_auto_mo…

…de_manager (autowarefoundation#4054) * temp Signed-off-by: kyoichi-sugahara <[email protected]> * define enbale_rtc param for crosswalk Signed-off-by: kyoichi-sugahara <[email protected]> * update Signed-off-by: kyoichi-sugahara <[email protected]> * update Signed-off-by: kyoichi-sugahara <[email protected]> * update Signed-off-by: kyoichi-sugahara <[email protected]> * add enable_rtc param Signed-off-by: kyoichi-sugahara <[email protected]> * modify enable_rtc param in intersection module Signed-off-by: kyoichi-sugahara <[email protected]> * change explanation Signed-off-by: kyoichi-sugahara <[email protected]> * fix typo Signed-off-by: kyoichi-sugahara <[email protected]> * update argument name of parameter Signed-off-by: kyoichi-sugahara <[email protected]> * fix typo Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
TaikiYamada4 · Jul 22, 2023 · 01cea10 · 01cea10
1 parent cbaaa69
commit 01cea10
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Showing 13 changed files with 34 additions and 9 deletions.
diff --git a/planning/behavior_velocity_blind_spot_module/config/blind_spot.param.yaml b/planning/behavior_velocity_blind_spot_module/config/blind_spot.param.yaml
@@ -8,3 +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 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/planning/behavior_velocity_blind_spot_module/src/manager.cpp b/planning/behavior_velocity_blind_spot_module/src/manager.cpp
@@ -28,7 +28,9 @@
 namespace behavior_velocity_planner
 {
 BlindSpotModuleManager::BlindSpotModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(node, getModuleName())
+: SceneModuleManagerInterfaceWithRTC(
+    node, getModuleName(),
+    node.declare_parameter<bool>(std::string(getModuleName()) + ".enable_rtc"))
 {
   const std::string ns(getModuleName());
   planner_param_.use_pass_judge_line = node.declare_parameter<bool>(ns + ".use_pass_judge_line");

diff --git a/planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml b/planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml
@@ -4,6 +4,7 @@
       common:
         show_processing_time: false # [-] whether to show processing time
         # param for input data
+        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
         traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
 
       # param for stop position

diff --git a/planning/behavior_velocity_crosswalk_module/src/manager.cpp b/planning/behavior_velocity_crosswalk_module/src/manager.cpp
@@ -28,7 +28,9 @@ namespace behavior_velocity_planner
 using lanelet::autoware::Crosswalk;
 
 CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(node, getModuleName())
+: SceneModuleManagerInterfaceWithRTC(
+    node, getModuleName(),
+    node.declare_parameter<bool>(std::string(getModuleName()) + ".common.enable_rtc"))
 {
   const std::string ns(getModuleName());
 

diff --git a/planning/behavior_velocity_detection_area_module/config/detection_area.param.yaml b/planning/behavior_velocity_detection_area_module/config/detection_area.param.yaml
@@ -8,3 +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 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/planning/behavior_velocity_detection_area_module/src/manager.cpp b/planning/behavior_velocity_detection_area_module/src/manager.cpp
@@ -31,7 +31,9 @@ namespace behavior_velocity_planner
 using lanelet::autoware::DetectionArea;
 
 DetectionAreaModuleManager::DetectionAreaModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(node, getModuleName())
+: SceneModuleManagerInterfaceWithRTC(
+    node, getModuleName(),
+    node.declare_parameter<bool>(std::string(getModuleName()) + ".enable_rtc"))
 {
   const std::string ns(getModuleName());
   planner_param_.stop_margin = node.declare_parameter<double>(ns + ".stop_margin");

diff --git a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
@@ -48,5 +48,9 @@
         denoise_kernel: 1.0 # [m]
         pub_debug_grid: false
 
+      enable_rtc: # 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: true
+        intersection_to_occlusion: true
+
     merge_from_private:
       stop_duration_sec: 1.0
diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp
@@ -30,8 +30,13 @@
 namespace behavior_velocity_planner
 {
 IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(node, getModuleName()),
-  occlusion_rtc_interface_(&node, "intersection_occlusion")
+: SceneModuleManagerInterfaceWithRTC(
+    node, getModuleName(),
+    node.declare_parameter<bool>(std::string(getModuleName()) + ".enable_rtc.intersection")),
+  occlusion_rtc_interface_(
+    &node, "intersection_occlusion",
+    node.declare_parameter<bool>(
+      std::string(getModuleName()) + ".enable_rtc.intersection_to_occlusion"))
 {
   const std::string ns(getModuleName());
   auto & ip = intersection_param_;

diff --git a/planning/behavior_velocity_no_stopping_area_module/config/no_stopping_area.param.yaml b/planning/behavior_velocity_no_stopping_area_module/config/no_stopping_area.param.yaml
@@ -8,3 +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
diff --git a/planning/behavior_velocity_no_stopping_area_module/src/manager.cpp b/planning/behavior_velocity_no_stopping_area_module/src/manager.cpp
@@ -31,7 +31,9 @@ namespace behavior_velocity_planner
 using lanelet::autoware::NoStoppingArea;
 
 NoStoppingAreaModuleManager::NoStoppingAreaModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(node, getModuleName())
+: SceneModuleManagerInterfaceWithRTC(
+    node, getModuleName(),
+    node.declare_parameter<bool>(std::string(getModuleName()) + ".enable_rtc"))
 {
   const std::string ns(getModuleName());
   auto & pp = planner_param_;

diff --git a/...locity_planner_common/include/behavior_velocity_planner_common/scene_module_interface.hpp b/...locity_planner_common/include/behavior_velocity_planner_common/scene_module_interface.hpp
@@ -326,8 +326,9 @@ class SceneModuleManagerInterface
 class SceneModuleManagerInterfaceWithRTC : public SceneModuleManagerInterface
 {
 public:
-  SceneModuleManagerInterfaceWithRTC(rclcpp::Node & node, const char * module_name)
-  : SceneModuleManagerInterface(node, module_name), rtc_interface_(&node, module_name)
+  SceneModuleManagerInterfaceWithRTC(
+    rclcpp::Node & node, const char * module_name, const bool enable_rtc = true)
+  : SceneModuleManagerInterface(node, module_name), rtc_interface_(&node, module_name, enable_rtc)
   {
   }
 

diff --git a/planning/behavior_velocity_traffic_light_module/config/traffic_light.param.yaml b/planning/behavior_velocity_traffic_light_module/config/traffic_light.param.yaml
@@ -5,3 +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
diff --git a/planning/behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_traffic_light_module/src/manager.cpp
@@ -28,7 +28,9 @@ namespace behavior_velocity_planner
 using lanelet::TrafficLight;
 
 TrafficLightModuleManager::TrafficLightModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(node, getModuleName())
+: SceneModuleManagerInterfaceWithRTC(
+    node, getModuleName(),
+    node.declare_parameter<bool>(std::string(getModuleName()) + ".enable_rtc"))
 {
   const std::string ns(getModuleName());
   planner_param_.stop_margin = node.declare_parameter<double>(ns + ".stop_margin");