Merge pull request autowarefoundation#567 from tier4/feat/planning-pr…

…eset-v3.0.0

feat: planning preset v3.0.0

autoware_launch/config/planning/preset/x2_preset.yaml

@@ -0,0 +1,117 @@
+launch:
+  # behavior path modules
+  - arg:
+      name: launch_avoidance_module
+      default: "true"
+  - arg:
+      name: launch_avoidance_by_lane_change_module
+      default: "false"
+  - arg:
+      name: launch_dynamic_avoidance_module
+      default: "false"
+  - arg:
+      name: launch_lane_change_right_module
+      default: "true"
+  - arg:
+      name: launch_lane_change_left_module
+      default: "true"
+  - arg:
+      name: launch_external_request_lane_change_right_module
+      default: "false"
+  - arg:
+      name: launch_external_request_lane_change_left_module
+      default: "false"
+  - arg:
+      name: launch_goal_planner_module
+      default: "true"
+  - arg:
+      name: launch_start_planner_module
+      default: "true"
+  - arg:
+      name: launch_side_shift_module
+      default: "false"
+
+  # behavior velocity modules
+  - arg:
+      name: launch_crosswalk_module
+      default: "true"
+  - arg:
+      name: launch_walkway_module
+      default: "true"
+  - arg:
+      name: launch_traffic_light_module
+      default: "true"
+  - arg:
+      name: launch_intersection_module
+      default: "true"
+  - arg:
+      name: launch_merge_from_private_module
+      default: "true"
+  - arg:
+      name: launch_blind_spot_module
+      default: "true"
+  - arg:
+      name: launch_detection_area_module
+      default: "true"
+  - arg:
+      name: launch_virtual_traffic_light_module
+      default: "false"
+  - arg:
+      name: launch_no_stopping_area_module
+      default: "true"
+  - arg:
+      name: launch_stop_line_module
+      default: "true"
+  - arg:
+      name: launch_occlusion_spot_module
+      default: "false"
+  - arg:
+      name: launch_run_out_module
+      default: "true"
+  - arg:
+      name: launch_speed_bump_module
+      default: "false"
+  - arg:
+      name: launch_out_of_lane_module
+      default: "true"
+  - arg:
+      name: launch_no_drivable_lane_module
+      default: "false"
+
+  # motion planning modules
+  - arg:
+      name: motion_path_smoother_type
+      default: elastic_band
+      # option: elastic_band
+      #         none
+
+  - arg:
+      name: motion_path_planner_type
+      default: obstacle_avoidance_planner
+      # option: obstacle_avoidance_planner
+      #         path_sampler
+      #         none
+
+  - arg:
+      name: motion_stop_planner_type
+      default: obstacle_cruise_planner
+      # option: obstacle_stop_planner
+      #         obstacle_cruise_planner
+      #         none
+
+  - arg:
+      name: motion_velocity_smoother_type
+      default: JerkFiltered
+      # option: JerkFiltered
+      #         L2
+      #         Linf(Unstable)
+      #         Analytical
+
+  - arg:
+      name: launch_surround_obstacle_checker
+      default: "true"
+
+  # parking modules
+  - arg:
+      name: launch_parking_module
+      default: "true"

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -235,7 +235,7 @@
         # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver".
         # "per_shift_line": request approval for each shift line.
         # "per_avoidance_maneuver": request approval for avoidance maneuver (avoid + return).
-        make_approval_request: "per_shift_line"
+        make_approval_request: "per_avoidance_maneuver"
         # policy for vehicle slow down behavior. select "best_effort" or "reliable".
         # "best_effort": slow down deceleration & jerk are limited by constraints.
         #                but there is a possibility that the vehicle can't stop in front of the vehicle.

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml

@@ -37,7 +37,7 @@
 
     start_planner:
       enable_rtc: false
-      enable_simultaneous_execution_as_approved_module: true
+      enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 0
@@ -60,7 +60,6 @@
       max_module_size: 1
 
     avoidance:
-      enable_module: true
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!-- NOTE: optional parameters are written here -->
-  <arg name="module_preset" default="default"/>
+  <arg name="module_preset" default="x2"/>
   <include file="$(find-pkg-share autoware_launch)/config/planning/preset/$(var module_preset)_preset.yaml"/>
 
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">