fix(intersection): fix bugs (#6050)

Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Jan 11, 2024 · 73c9e17 · 73c9e17
1 parent 5a0e141
commit 73c9e17
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Showing 3 changed files with 4 additions and 2 deletions.
diff --git a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
@@ -72,7 +72,7 @@
           enable: false
           creep_velocity: 0.8333
         peeking_offset: -0.5
-        occlusion_required_clearance_distance: 55
+        occlusion_required_clearance_distance: 55.0
         possible_object_bbox: [1.5, 2.5]
         ignore_parked_vehicle_speed_threshold: 0.8333
         occlusion_detection_hold_time: 1.5

diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp
@@ -152,6 +152,8 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
     getOrDeclareParameter<double>(node, ns + ".occlusion.creep_during_peeking.creep_velocity");
   ip.occlusion.peeking_offset =
     getOrDeclareParameter<double>(node, ns + ".occlusion.peeking_offset");
+  ip.occlusion.occlusion_required_clearance_distance =
+    getOrDeclareParameter<double>(node, ns + ".occlusion.occlusion_required_clearance_distance");
   ip.occlusion.possible_object_bbox =
     getOrDeclareParameter<std::vector<double>>(node, ns + ".occlusion.possible_object_bbox");
   ip.occlusion.ignore_parked_vehicle_speed_threshold =

diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -1195,7 +1195,7 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
     }
   }
 
-  const double is_amber_or_red =
+  const bool is_amber_or_red =
     (traffic_prioritized_level == TrafficPrioritizedLevel::PARTIALLY_PRIORITIZED) ||
     (traffic_prioritized_level == TrafficPrioritizedLevel::FULLY_PRIORITIZED);
   auto occlusion_status =