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feat(rtc_auto_mode_manager): eliminate rtc auto mode manager #625

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merged 3 commits into from
Oct 7, 2023
Merged

feat(rtc_auto_mode_manager): eliminate rtc auto mode manager #625

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6173a59
disable RTC
kyoichi-sugahara Oct 5, 2023
1ad60a4
remove rtc auto mode manager
kyoichi-sugahara Oct 5, 2023
3a655ba
fix file name
kyoichi-sugahara Oct 5, 2023
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20 changes: 10 additions & 10 deletions ...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
ros__parameters:
external_request_lane_change_left:
enable_module: false
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
Expand All @@ -14,7 +14,7 @@

external_request_lane_change_right:
enable_module: false
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
Expand All @@ -23,7 +23,7 @@

lane_change_left:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
Expand All @@ -32,7 +32,7 @@

lane_change_right:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
Expand All @@ -41,7 +41,7 @@

start_planner:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
Expand All @@ -50,7 +50,7 @@

side_shift:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
Expand All @@ -59,7 +59,7 @@

goal_planner:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: true
Expand All @@ -68,7 +68,7 @@

avoidance:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
Expand All @@ -77,7 +77,7 @@

avoidance_by_lc:
enable_module: true
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
Expand All @@ -86,7 +86,7 @@

dynamic_avoidance:
enable_module: false
enable_rtc: true
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: true
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2 changes: 1 addition & 1 deletion ...o_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
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Expand Up @@ -8,4 +8,4 @@
max_future_movement_time: 10.0 # [second]
threshold_yaw_diff: 0.523 # [rad]
adjacent_extend_width: 1.5 # [m]
enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
2 changes: 1 addition & 1 deletion ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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Expand Up @@ -5,7 +5,7 @@
show_processing_time: false # [-] whether to show processing time
# param for input data
traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.

# param for stop position
stop_position:
Expand Down
2 changes: 1 addition & 1 deletion ...anning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
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Expand Up @@ -8,4 +8,4 @@
state_clear_time: 2.0
hold_stop_margin_distance: 0.0
distance_to_judge_over_stop_line: 0.5
enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
4 changes: 2 additions & 2 deletions ...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
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Expand Up @@ -61,8 +61,8 @@
attention_lane_curvature_calculation_ds: 0.5

enable_rtc:
intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
intersection_to_occlusion: true
intersection: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
intersection_to_occlusion: false

merge_from_private:
stop_line_margin: 3.0
Expand Down
2 changes: 1 addition & 1 deletion ...ning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml
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Expand Up @@ -8,4 +8,4 @@
stop_line_margin: 1.0 # [m] margin to auto-gen stop line at no stopping area
detection_area_length: 200.0 # [m] used to create detection area polygon
stuck_vehicle_front_margin: 6.0 # [m] obstacle stop max distance(5.0m)
enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
2 changes: 1 addition & 1 deletion ...lanning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
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Expand Up @@ -5,4 +5,4 @@
tl_state_timeout: 1.0
yellow_lamp_period: 2.75
enable_pass_judge: true
enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
0 ..._manager/rtc_auto_mode_manager.param.yaml → ...ning/rtc_replayer/rtc_replayer.param.yaml
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3 changes: 0 additions & 3 deletions autoware_launch/launch/components/tier4_planning_component.launch.xml
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Expand Up @@ -25,9 +25,6 @@
<arg name="common_param_path" value="$(var common_config_path)/common.param.yaml"/>
<arg name="nearest_search_param_path" value="$(var common_config_path)/nearest_search.param.yaml"/>

<!-- rtc -->
<arg name="rtc_auto_mode_manager_param_path" value="$(var behavior_config_path)/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml"/>

<!-- mission planner -->
<arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>

Expand Down
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