Triggering lane change in awsim-stable branch of autoware

[g0ncalocunha]

I am working with autoware.universe, specifically with the awsim-stable branch version, and I am having an issue enabling lane change, in a way that can be triggered anytime, independently of the perception stack decision/input.

I found a similar question asked by @AElkenawy , but I don't know how to make similar changes in the equivalent files in the awsim-stable branch.

Is there a similar way to fix this problem in this version, or is there a way to implement this function using different components/modules? There is also the option to make some changes to the lane_change_module itself, but my team would rather use this method as a last resort.

Thank you in advance for your help.

[0xd1ma]

@g0ncalocunha , please give me a hint how you could do external lane change

[shulanbushangshu]

What you're saying is that you need a manually triggered lane change based solely on vector maps, vehicle movement information, and location information, regardless of the perceived target. @g0ncalocunha

[g0ncalocunha]

Yes, that was what I was trying to implement.

[zulfaqar-azmi-t4]

@g0ncalocunha
Hi, I'm the maintainer of the lane change module.
There are several update made to the behavior path planner's module since @.AElkenawy's question.
Now, to enable external request lane change, you have to set the value to true in the following file
https://github.com/autowarefoundation/autoware_launch/blob/44afd91fbf66f9c22539c699f19b008e2f6a56d1/autoware_launch/config/planning/preset/default_preset.yaml#L21-L26

[g0ncalocunha]

Thank you for your help