fix: fix issue loading packages that have been prefixed

Signed-off-by: Esteve Fernandez <[email protected]>
autowarefoundation · May 29, 2024 · 7fb75ee · 7fb75ee
1 parent 818b9f4
commit 7fb75ee
Showing 1 changed file with 21 additions and 14 deletions.
diff --git a/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -54,12 +54,19 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   const auto motion_velocity_smoother_dir =
     ament_index_cpp::get_package_share_directory("motion_velocity_smoother");
 
-  const auto get_behavior_velocity_module_config = [](const std::string & module) {
+  // TODO(esteve): delete when all the modules are migrated to autoware_behavior_velocity_*
+  const auto get_behavior_velocity_module_config_no_prefix = [](const std::string & module) {
     const auto package_name = "behavior_velocity_" + module + "_module";
     const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
     return package_path + "/config/" + module + ".param.yaml";
   };
 
+  const auto get_behavior_velocity_module_config = [](const std::string & module) {
+    const auto package_name = "autoware_behavior_velocity_" + module + "_module";
+    const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
+    return package_path + "/config/" + module + ".param.yaml";
+  };
+
   std::vector<std::string> module_names;
   module_names.emplace_back("behavior_velocity_planner::CrosswalkModulePlugin");
   module_names.emplace_back("autoware::behavior_velocity_planner::WalkwayModulePlugin");
@@ -90,20 +97,20 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
      motion_velocity_smoother_dir + "/config/default_motion_velocity_smoother.param.yaml",
      motion_velocity_smoother_dir + "/config/Analytical.param.yaml",
      behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml",
-     get_behavior_velocity_module_config("blind_spot"),
-     get_behavior_velocity_module_config("crosswalk"),
+     get_behavior_velocity_module_config_no_prefix("blind_spot"),
+     get_behavior_velocity_module_config_no_prefix("crosswalk"),
      get_behavior_velocity_module_config("walkway"),
-     get_behavior_velocity_module_config("detection_area"),
-     get_behavior_velocity_module_config("intersection"),
-     get_behavior_velocity_module_config("no_stopping_area"),
-     get_behavior_velocity_module_config("occlusion_spot"),
-     get_behavior_velocity_module_config("run_out"),
-     get_behavior_velocity_module_config("speed_bump"),
-     get_behavior_velocity_module_config("stop_line"),
-     get_behavior_velocity_module_config("traffic_light"),
-     get_behavior_velocity_module_config("virtual_traffic_light"),
-     get_behavior_velocity_module_config("out_of_lane"),
-     get_behavior_velocity_module_config("no_drivable_lane")});
+     get_behavior_velocity_module_config_no_prefix("detection_area"),
+     get_behavior_velocity_module_config_no_prefix("intersection"),
+     get_behavior_velocity_module_config_no_prefix("no_stopping_area"),
+     get_behavior_velocity_module_config_no_prefix("occlusion_spot"),
+     get_behavior_velocity_module_config_no_prefix("run_out"),
+     get_behavior_velocity_module_config_no_prefix("speed_bump"),
+     get_behavior_velocity_module_config_no_prefix("stop_line"),
+     get_behavior_velocity_module_config_no_prefix("traffic_light"),
+     get_behavior_velocity_module_config_no_prefix("virtual_traffic_light"),
+     get_behavior_velocity_module_config_no_prefix("out_of_lane"),
+     get_behavior_velocity_module_config_no_prefix("no_drivable_lane")});
 
   // TODO(Takagi, Isamu): set launch_modules
   // TODO(Kyoichi Sugahara) set to true launch_virtual_traffic_light