feat(rtc_auto_mode_manager): eliminate rtc auto mode manager

launch/tier4_planning_launch/launch/planning.launch.xml

@@ -15,8 +15,6 @@
   <!-- common -->
   <arg name="common_param_path"/>
   <arg name="nearest_search_param_path"/>
-  <!-- rtc -->
-  <arg name="rtc_auto_mode_manager_param_path"/>
   <!-- mission planner -->
   <arg name="mission_planner_param_path"/>
   <!-- behavior path planner -->

launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml

@@ -14,11 +14,6 @@
           <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
         </include>
       </group>
-      <group>
-        <include file="$(find-pkg-share rtc_auto_mode_manager)/launch/rtc_auto_mode_manager.launch.xml">
-          <arg name="param_path" value="$(var rtc_auto_mode_manager_param_path)"/>
-        </include>
-      </group>
     </group>
 
     <!-- motion planning module -->

launch/tier4_planning_launch/package.xml

@@ -68,7 +68,6 @@
   <exec_depend>obstacle_stop_planner</exec_depend>
   <exec_depend>planning_evaluator</exec_depend>
   <exec_depend>planning_validator</exec_depend>
-  <exec_depend>rtc_auto_mode_manager</exec_depend>
   <exec_depend>scenario_selector</exec_depend>
   <exec_depend>surround_obstacle_checker</exec_depend>
 

planning/behavior_path_planner/config/scene_module_manager.param.yaml

@@ -5,7 +5,7 @@
   ros__parameters:
     external_request_lane_change_left:
       enable_module: false
-      enable_rtc: true
+      enable_RTC: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
@@ -14,7 +14,7 @@
 
     external_request_lane_change_right:
       enable_module: false
-      enable_rtc: true
+      enable_RTC: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
@@ -23,7 +23,7 @@
 
     lane_change_left:
       enable_module: true
-      enable_rtc: true
+      enable_RTC: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
@@ -32,7 +32,7 @@
 
     lane_change_right:
       enable_module: true
-      enable_rtc: true
+      enable_RTC: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
@@ -41,7 +41,7 @@
 
     start_planner:
       enable_module: true
-      enable_rtc: true
+      enable_RTC: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
@@ -50,7 +50,7 @@
 
     side_shift:
       enable_module: true
-      enable_rtc: true
+      enable_RTC: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
@@ -59,7 +59,7 @@
 
     goal_planner:
       enable_module: true
-      enable_rtc: true
+      enable_RTC: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
@@ -68,7 +68,7 @@
 
     avoidance:
       enable_module: true
-      enable_rtc: true
+      enable_RTC: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
@@ -77,7 +77,7 @@
 
     avoidance_by_lc:
       enable_module: false
-      enable_rtc: true
+      enable_RTC: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
@@ -86,7 +86,7 @@
 
     dynamic_avoidance:
       enable_module: false
-      enable_rtc: true
+      enable_RTC: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false

planning/behavior_velocity_blind_spot_module/config/blind_spot.param.yaml

@@ -8,4 +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
+      enable_RTC: false # 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

planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml

@@ -5,7 +5,7 @@
         show_processing_time: false # [-] whether to show processing time
         # param for input data
         traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
-        enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+        enable_RTC: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
 
       # param for stop position
       stop_position:

planning/behavior_velocity_detection_area_module/config/detection_area.param.yaml

@@ -8,4 +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
+      enable_RTC: false # 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

planning/behavior_velocity_intersection_module/config/intersection.param.yaml

@@ -61,8 +61,8 @@
         attention_lane_curvature_calculation_ds: 0.5
 
       enable_rtc:
-        intersection: 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
-        intersection_to_occlusion: true
+        intersection: false # 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_to_occlusion: false
 
     merge_from_private:
       stop_line_margin: 3.0

planning/behavior_velocity_no_stopping_area_module/config/no_stopping_area.param.yaml

@@ -8,4 +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
+      enable_RTC: false # 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

planning/behavior_velocity_traffic_light_module/config/traffic_light.param.yaml

@@ -5,4 +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
+      enable_RTC: false # 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