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feat(autoware_launch): reorder intersection and merge_from_private #608

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feat(autoware_launch): reorder intersection and merge_from_private #608

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5 changes: 4 additions & 1 deletion ..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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