From f73c87604f5d5fbfb6781fd0de4eda8f72e5550d Mon Sep 17 00:00:00 2001
From: "Y.Hisaki" <yhisaki31@gmail.com>
Date: Tue, 26 Nov 2024 16:57:36 +0900
Subject: [PATCH] 
 refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner):
 separate param files

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
---
 .../behavior_velocity_planner.param.yaml                   | 5 -----
 .../behavior_velocity_planner_common.param.yaml            | 7 +++++++
 .../launch/components/tier4_planning_component.launch.xml  | 3 ++-
 3 files changed, 9 insertions(+), 6 deletions(-)
 create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
index b31506918a..49749cd129 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -4,8 +4,3 @@
     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
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml
new file mode 100644
index 0000000000..aff2aec9cf
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  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
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 1f929543d4..a01a5fca17 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -44,7 +44,8 @@
     <!-- behavior velocity planner -->
     <arg name="behavior_velocity_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"/>
     <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml"/>
-    <arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
+    <arg name="behavior_velocity_planner_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
+    <arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner_common.param.yaml"/>
     <arg name="behavior_velocity_planner_blind_spot_module_param_path" value="$(var behavior_velocity_config_path)/blind_spot.param.yaml"/>
     <arg name="behavior_velocity_planner_crosswalk_module_param_path" value="$(var behavior_velocity_config_path)/crosswalk.param.yaml"/>
     <arg name="behavior_velocity_planner_walkway_module_param_path" value="$(var behavior_velocity_config_path)/walkway.param.yaml"/>