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feat(interface): add new option keep_last (autowarefoundation#543) (a…
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…utowarefoundation#635)

* feat(interface): add new option `keep_last` (autowarefoundation#543)

feat(planner_manager): keep last module

Signed-off-by: satoshi-ota <[email protected]>

* update behavior path foa params

Signed-off-by: kosuke55 <[email protected]>

---------

Signed-off-by: satoshi-ota <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
Co-authored-by: Satoshi OTA <[email protected]>
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@kosuke55 @satoshi-ota
kosuke55 and satoshi-ota authored Sep 19, 2023
1 parent 8e01157 commit ecfad4e
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Showing 2 changed files with 20 additions and 0 deletions.
10 changes: 10 additions & 0 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 @@ -8,6 +8,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 7
max_module_size: 1

Expand All @@ -16,6 +17,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 7
max_module_size: 1

Expand All @@ -24,6 +26,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
max_module_size: 1

Expand All @@ -32,6 +35,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
max_module_size: 1

Expand All @@ -40,6 +44,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 0
max_module_size: 1

Expand All @@ -48,6 +53,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 2
max_module_size: 1

Expand All @@ -56,6 +62,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: true
priority: 1
max_module_size: 1

Expand All @@ -64,6 +71,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 5
max_module_size: 1

Expand All @@ -72,6 +80,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 4
max_module_size: 1

Expand All @@ -80,5 +89,6 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 3
max_module_size: 1
10 changes: 10 additions & 0 deletions .../lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 7
max_module_size: 1

Expand All @@ -16,6 +17,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 7
max_module_size: 1

Expand All @@ -24,6 +26,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
max_module_size: 1

Expand All @@ -32,6 +35,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
max_module_size: 1

Expand All @@ -40,6 +44,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 0
max_module_size: 1

Expand All @@ -48,6 +53,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 2
max_module_size: 1

Expand All @@ -56,6 +62,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: true
priority: 1
max_module_size: 1

Expand All @@ -64,6 +71,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 5
max_module_size: 1

Expand All @@ -72,6 +80,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 4
max_module_size: 1

Expand All @@ -80,5 +89,6 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 3
max_module_size: 1

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