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docs: update module name
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Signed-off-by: satoshi-ota <[email protected]>
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satoshi-ota committed May 31, 2024
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6 changes: 3 additions & 3 deletions planning/autoware_behavior_path_static_obstacle_avoidance_module/README.md
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Expand Up @@ -758,9 +758,9 @@ WIP

## Parameters

The avoidance specific parameter configuration file can be located at `src/autoware/launcher/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml`.
The avoidance specific parameter configuration file can be located at `src/autoware/launcher/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml`.

{{ json_to_markdown("planning/autoware_behavior_path_static_obstacle_avoidance_module/schema/avoidance.schema.json") }}
{{ json_to_markdown("planning/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json") }}

## Future extensions / Unimplemented parts

Expand Down Expand Up @@ -797,7 +797,7 @@ Developers can see what is going on in each process by visualizing all the avoid

![fig1](./images/avoidance-debug-marker.png)

To enable the debug marker, execute `ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner avoidance.publish_debug_marker true` (no restart is needed) or simply set the `publish_debug_marker` to `true` in the `avoidance.param.yaml` for permanent effect (restart is needed). Then add the marker `/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance` in `rviz2`.
To enable the debug marker, execute `ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner avoidance.publish_debug_marker true` (no restart is needed) or simply set the `publish_debug_marker` to `true` in the `static_obstacle_avoidance.param.yaml` for permanent effect (restart is needed). Then add the marker `/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance` in `rviz2`.

### Echoing debug message to find out why the objects were ignored

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38 changes: 19 additions & 19 deletions planning/behavior_path_planner/README.md
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Expand Up @@ -24,17 +24,17 @@ Essentially, the module has three primary responsibilities:

Behavior Path Planner has following scene modules

| Name | Description | Details |
| :----------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------------------------------------------------------------- |
| Lane Following | this module generates reference path from lanelet centerline. | LINK |
| Avoidance | this module generates avoidance path when there is objects that should be avoid. | [LINK](../behavior_path_avoidance_module/README.md) |
| Dynamic Avoidance | WIP | [LINK](../behavior_path_dynamic_avoidance_module/README.md) |
| Avoidance By Lane Change | this module generates lane change path when there is objects that should be avoid. | [LINK](../behavior_path_avoidance_by_lane_change_module/README.md) |
| Lane Change | this module is performed when it is necessary and a collision check with other vehicles is cleared. | [LINK](../behavior_path_lane_change_module/README.md) |
| External Lane Change | WIP | LINK |
| Goal Planner | this module is performed when ego-vehicle is in the road lane and goal is in the shoulder lane. ego-vehicle will stop at the goal. | [LINK](../behavior_path_goal_planner_module/README.md) |
| Start Planner | this module is performed when ego-vehicle is stationary and footprint of ego-vehicle is included in shoulder lane. This module ends when ego-vehicle merges into the road. | [LINK](../behavior_path_start_planner_module/README.md) |
| Side Shift | (for remote control) shift the path to left or right according to an external instruction. | [LINK](../behavior_path_side_shift_module/README.md) |
| Name | Description | Details |
| :------------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------------- |
| Lane Following | this module generates reference path from lanelet centerline. | LINK |
| Static Obstacle Avoidance | this module generates avoidance path when there is objects that should be avoid. | [LINK](../autoware_behavior_path_static_obstacle_avoidance_module/README.md) |
| Dynamic Obstacle Avoidance | WIP | [LINK](../autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md) |
| Avoidance By Lane Change | this module generates lane change path when there is objects that should be avoid. | [LINK](../behavior_path_avoidance_by_lane_change_module/README.md) |
| Lane Change | this module is performed when it is necessary and a collision check with other vehicles is cleared. | [LINK](../behavior_path_lane_change_module/README.md) |
| External Lane Change | WIP | LINK |
| Goal Planner | this module is performed when ego-vehicle is in the road lane and goal is in the shoulder lane. ego-vehicle will stop at the goal. | [LINK](../behavior_path_goal_planner_module/README.md) |
| Start Planner | this module is performed when ego-vehicle is stationary and footprint of ego-vehicle is included in shoulder lane. This module ends when ego-vehicle merges into the road. | [LINK](../behavior_path_start_planner_module/README.md) |
| Side Shift | (for remote control) shift the path to left or right according to an external instruction. | [LINK](../behavior_path_side_shift_module/README.md) |

!!! Note

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The `default_preset.yaml` file acts as a configuration file for enabling or disabling specific modules within the planner. It contains a series of arguments which represent the behavior path planner's modules or features. For example:

- `launch_avoidance_module`: Set to `true` to enable the avoidance module, or `false` to disable it.
- `launch_static_obstacle_avoidance_module`: Set to `true` to enable the avoidance module, or `false` to disable it.

!!! note

Click [here](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/preset/default_preset.yaml) to view the `default_preset.yaml`.

The `behavior_path_planner.launch.xml` file references the settings defined in `default_preset.yaml` to apply the configurations when the behavior path planner's node is running. For instance, the parameter `avoidance.enable_module` in
The `behavior_path_planner.launch.xml` file references the settings defined in `default_preset.yaml` to apply the configurations when the behavior path planner's node is running. For instance, the parameter `static_obstacle_avoidance.enable_module` in

```xml
<param name="avoidance.enable_module" value="$(var launch_avoidance_module)"/>
<param name="static_obstacle_avoidance.enable_module" value="$(var launch_static_obstacle_avoidance_module)"/>
```

corresponds to launch_avoidance_module from `default_preset.yaml`.
corresponds to launch_static_obstacle_avoidance_module from `default_preset.yaml`.

Therefore, to enable or disable a module, simply set the corresponding module in `default_preset.yaml` to `true` or `false`. These changes will be applied upon the next launch of Autoware.

Expand Down Expand Up @@ -245,12 +245,12 @@ behavior_path_planner
├── behavior_path_planner.param.yaml
├── drivable_area_expansion.param.yaml
├── scene_module_manager.param.yaml
├── avoidance
│ └── avoidance.param.yaml
├── static_obstacle_avoidance
│ └── static_obstacle_avoidance.param.yaml
├── avoidance_by_lc
│ └── avoidance_by_lc.param.yaml
├── dynamic_avoidance
│ └── dynamic_avoidance.param.yaml
├── dynamic_obstacle_avoidance
│ └── dynamic_obstacle_avoidance.param.yaml
├── goal_planner
│ └── goal_planner.param.yaml
├── lane_change
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