refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files

[yhisaki]

Description

Previously, behaviour_velocity_planner/config/behaviour_velocity_planner.param.yaml was used in autoware_behaviour_velocity_planner and autoware_behaviour_velocity_planner_common.
In this PR, behaviour_velocity_planner.param.yaml is split into behaviour_velocity_planner.param.yaml and behaviour_velocity_planner_common.param.yaml. behaviour_velocity_planner.param.yaml is only used in behaviour_velocity_planner and behaviour_velocity_planner_common.param.yaml is only used in behaviour_velocity_planner_common .

• Before

  behavior_velocity_planner/config/behavior_velocity_planner.param.yaml

  /**:
  ros__parameters:
      forward_path_length: 1000.0
      backward_path_length: 5.0
      behavior_output_path_interval: 1.0
      stop_line_extend_length: 5.0
      max_accel: -2.8
      max_jerk: -5.0
      system_delay: 0.5
      delay_response_time: 0.5
      is_publish_debug_path: false # publish all debug path with lane id in each module

• After

  behavior_velocity_planner/config/behavior_velocity_planner.param.yaml

  /**:
  ros__parameters:
      forward_path_length: 1000.0
      backward_path_length: 5.0
      behavior_output_path_interval: 1.0
      stop_line_extend_length: 5.0

  behavior_velocity_planner_common/config/behavior_velocity_planner_common.param.yaml

  /**:
  ros__parameters:
      max_accel: -2.8
      max_jerk: -5.0
      system_delay: 0.5
      delay_response_time: 0.5
      is_publish_debug_path: false # publish all debug path with lane id in each module

Why do I need this change?

The file behavior_velocity_plannner/config/behaviour_velocity_planner.param.yaml was needed to create unit tests for behavior_velocity_plannner_common. However, if behavior_velocity_plannner_common depends on behavior_velocity_plannner, it causes circular references. Therefore, I came up with the idea of creating this PR.

Related links

autowarefoundation/autoware_launch#1254

How was this PR tested?

Tested on psim.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[kyoichi-sugahara]

@yhisaki
In the autoware_static_centerline_generator package, the tests are failing because it tries to reference behavior_output_path_interval defined in behavior_velocity_planner_common.param.yaml, whereas it should be referencing behavior_velocity_planner.param.yaml instead.

[kyoichi-sugahara]

For this PR's change, it would be more appropriate to verify that colcon test executes without issues, rather than checking psim results.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.23%. Comparing base (5372403) to head (0b9f93b).
Report is 18 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9470      +/-   ##
==========================================
- Coverage   29.24%   29.23%   -0.02%     
==========================================
  Files        1442     1447       +5     
  Lines      108555   108605      +50     
  Branches    41528    41530       +2     
==========================================
  Hits        31750    31750              
- Misses      73720    73770      +50     
  Partials     3085     3085              

Flag	Coverage Δ		*Carryforward flag
differential	22.70% <ø> (?)
total	29.24% <ø> (ø)		Carriedforward from 5372403

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