feat(autoware_launch): reorder intersection and merge_from_private

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Oct 4, 2023 · 0ef9519 · 0ef9519
1 parent c1edaf9
commit 0ef9519
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -8,12 +8,15 @@
     system_delay: 0.5
     delay_response_time: 0.5
     is_publish_debug_path: false # publish all debug path with lane id in each module
+
+    # NOTE: The following order is the same as the order to launch modules.
+    #       Changing the order may change its behavior.
     launch_modules:
       - behavior_velocity_planner::CrosswalkModulePlugin
       - behavior_velocity_planner::WalkwayModulePlugin
       - behavior_velocity_planner::TrafficLightModulePlugin
-      - behavior_velocity_planner::IntersectionModulePlugin      # Intersection module should be before merge from private to declare intersection parameters.
       - behavior_velocity_planner::MergeFromPrivateModulePlugin
+      - behavior_velocity_planner::IntersectionModulePlugin       # Intersection module considers the stop point in the input path including the result of above modules.
       - behavior_velocity_planner::BlindSpotModulePlugin
       - behavior_velocity_planner::DetectionAreaModulePlugin
       # behavior_velocity_planner::VirtualTrafficLightModulePlugin