feat(obstacle_velocity_limiter): move to motion_velocity_planner (#1023)

Signed-off-by: Maxime CLEMENT <[email protected]>
autowarefoundation · Jun 11, 2024 · b860c62 · b860c62
1 parent 84fe16d
commit b860c62
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Showing 4 changed files with 28 additions and 1 deletion.
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -99,6 +99,9 @@ launch:
   - arg:
       name: launch_out_of_lane_module
       default: "true"
+  - arg:
+      name: launch_obstacle_velocity_limiter_module
+      default: "true"
 
   - arg:
       name: motion_stop_planner_type

diff --git a/...iter/obstacle_velocity_limiter.param.yaml → ...nner/obstacle_velocity_limiter.param.yaml b/...iter/obstacle_velocity_limiter.param.yaml → ...nner/obstacle_velocity_limiter.param.yaml
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -69,13 +69,13 @@
     <arg name="elastic_band_smoother_param_path" value="$(var motion_config_path)/path_smoother/elastic_band_smoother.param.yaml"/>
     <arg name="path_optimizer_param_path" value="$(var motion_config_path)/autoware_path_optimizer/path_optimizer.param.yaml"/>
     <arg name="path_sampler_param_path" value="$(var motion_config_path)/path_sampler/path_sampler.param.yaml"/>
-    <arg name="obstacle_velocity_limiter_param_path" value="$(var motion_config_path)/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml"/>
     <arg name="surround_obstacle_checker_param_path" value="$(var motion_config_path)/surround_obstacle_checker/surround_obstacle_checker.param.yaml"/>
     <arg name="obstacle_stop_planner_param_path" value="$(var motion_config_path)/obstacle_stop_planner/obstacle_stop_planner.param.yaml"/>
     <arg name="obstacle_stop_planner_acc_param_path" value="$(var motion_config_path)/obstacle_stop_planner/adaptive_cruise_control.param.yaml"/>
     <arg name="obstacle_cruise_planner_param_path" value="$(var motion_config_path)/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"/>
     <arg name="motion_velocity_planner_param_path" value="$(var motion_config_path)/motion_velocity_planner/motion_velocity_planner.param.yaml"/>
     <arg name="motion_velocity_planner_out_of_lane_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/out_of_lane.param.yaml"/>
+    <arg name="motion_velocity_planner_obstacle_velocity_limiter_param_path" value="$(var motion_config_path)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml"/>
     <arg
       name="motion_velocity_planner_velocity_smoother_type_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml"

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2117,6 +2117,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls
                           Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (ObstacleVelocityLimiter)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls
+                          Value: true
                       Enabled: true
                       Name: VirtualWall
                     - Class: rviz_common/Group
@@ -2254,6 +2266,18 @@ Visualization Manager:
                                 Reliability Policy: Reliable
                                 Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers
                               Value: true
+                            - Class: rviz_default_plugins/MarkerArray
+                              Enabled: true
+                              Name: ObstacleVelocityLimiter
+                              Namespaces:
+                                {}
+                              Topic:
+                                Depth: 5
+                                Durability Policy: Volatile
+                                History Policy: Keep Last
+                                Reliability Policy: Reliable
+                                Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers
+                              Value: true
                           Enabled: false
                           Name: MotionVelocityPlanner
                       Enabled: false