From ecfad4e1f32b5a6bd99c02e3ad48b9bae691b427 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 19 Sep 2023 11:24:31 +0900 Subject: [PATCH] feat(interface): add new option `keep_last` (#543) (#635) * feat(interface): add new option `keep_last` (#543) feat(planner_manager): keep last module Signed-off-by: satoshi-ota * update behavior path foa params Signed-off-by: kosuke55 --------- Signed-off-by: satoshi-ota Signed-off-by: kosuke55 Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --- .../scene_module_manager.param.yaml | 10 ++++++++++ .../scene_module_manager_foa.param.yaml | 10 ++++++++++ 2 files changed, 20 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 65582656b9..a3c0194d03 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml index 65582656b9..a3c0194d03 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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