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follow old transition
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Signed-off-by: Zulfaqar Azmi <[email protected]>
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@zulfaqar-azmi-t4
zulfaqar-azmi-t4 committed Oct 21, 2024
1 parent 6608650 commit 7176938
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Showing 2 changed files with 37 additions and 38 deletions.
73 changes: 36 additions & 37 deletions ...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
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Expand Up @@ -180,44 +180,43 @@
/>
<let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>

<node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args="" output="screen">
<composable_node pkg="behavior_path_planner" plugin="behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">
<!-- topic remap -->
<remap from="~/input/route" to="$(var input_route_topic_name)"/>
<remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
<remap from="~/input/perception" to="/perception/object_recognition/objects"/>
<remap from="~/input/occupancy_grid_map" to="/perception/occupancy_grid_map/map"/>
<remap from="~/input/costmap" to="/planning/scenario_planning/parking/costmap_generator/occupancy_grid"/>
<remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
<remap from="~/input/odometry" to="/localization/kinematic_state"/>
<remap from="~/input/accel" to="/localization/acceleration"/>
<remap from="~/input/scenario" to="/planning/scenario_planning/scenario"/>
<remap from="~/output/path" to="path_with_lane_id"/>
<remap from="~/output/turn_indicators_cmd" to="/planning/turn_indicators_cmd"/>
<remap from="~/output/hazard_lights_cmd" to="/planning/behavior_path_planner/hazard_lights_cmd"/>
<remap from="~/output/modified_goal" to="/planning/scenario_planning/modified_goal"/>
<remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
<!-- params -->
<param from="$(var common_param_path)"/>
<param from="$(var vehicle_param_file)"/>
<param from="$(var nearest_search_param_path)"/>
<param name="launch_modules" value="$(var behavior_path_planner_launch_modules)"/>
<param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
<param name="is_simulation" value="$(var is_simulation)"/>
<param from="$(var behavior_path_planner_side_shift_module_param_path)"/>
<param from="$(var behavior_path_planner_avoidance_module_param_path)"/>
<param from="$(var behavior_path_planner_avoidance_by_lc_module_param_path)"/>
<param from="$(var behavior_path_planner_dynamic_avoidance_module_param_path)"/>
<param from="$(var behavior_path_planner_lane_change_module_param_path)"/>
<param from="$(var behavior_path_planner_goal_planner_module_param_path)"/>
<param from="$(var behavior_path_planner_start_planner_module_param_path)"/>
<param from="$(var behavior_path_planner_drivable_area_expansion_param_path)"/>
<param from="$(var behavior_path_planner_scene_module_manager_param_path)"/>
<param from="$(var behavior_path_planner_common_param_path)"/>
<!-- composable node config -->
<extra_arg name="use_intra_process_comms" value="false"/>
</composable_node>
<node pkg="behavior_path_planner" exec="behavior_path_planner_node" name="behavior_path_planner" namespace="" launch-prefix="xterm -l -lf /home/zulfaqar/develop/aw.txt -e gdb -ex run --args">

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<!-- topic remap -->
<remap from="~/input/route" to="$(var input_route_topic_name)"/>
<remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
<remap from="~/input/perception" to="/perception/object_recognition/objects"/>
<remap from="~/input/occupancy_grid_map" to="/perception/occupancy_grid_map/map"/>
<remap from="~/input/costmap" to="/planning/scenario_planning/parking/costmap_generator/occupancy_grid"/>
<remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
<remap from="~/input/odometry" to="/localization/kinematic_state"/>
<remap from="~/input/accel" to="/localization/acceleration"/>
<remap from="~/input/scenario" to="/planning/scenario_planning/scenario"/>
<remap from="~/output/path" to="path_with_lane_id"/>
<remap from="~/output/turn_indicators_cmd" to="/planning/turn_indicators_cmd"/>
<remap from="~/output/hazard_lights_cmd" to="/planning/behavior_path_planner/hazard_lights_cmd"/>
<remap from="~/output/modified_goal" to="/planning/scenario_planning/modified_goal"/>
<remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
<!-- params -->
<param from="$(var common_param_path)"/>
<param from="$(var vehicle_param_file)"/>
<param from="$(var nearest_search_param_path)"/>
<param name="launch_modules" value="$(var behavior_path_planner_launch_modules)"/>
<param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
<param name="is_simulation" value="$(var is_simulation)"/>
<param from="$(var behavior_path_planner_side_shift_module_param_path)"/>
<param from="$(var behavior_path_planner_avoidance_module_param_path)"/>
<param from="$(var behavior_path_planner_avoidance_by_lc_module_param_path)"/>
<param from="$(var behavior_path_planner_dynamic_avoidance_module_param_path)"/>
<param from="$(var behavior_path_planner_lane_change_module_param_path)"/>
<param from="$(var behavior_path_planner_goal_planner_module_param_path)"/>
<param from="$(var behavior_path_planner_start_planner_module_param_path)"/>
<param from="$(var behavior_path_planner_drivable_area_expansion_param_path)"/>
<param from="$(var behavior_path_planner_scene_module_manager_param_path)"/>
<param from="$(var behavior_path_planner_common_param_path)"/>
<!-- composable node config -->
</node>

<node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args="" output="screen">
<composable_node pkg="behavior_velocity_planner" plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
<!-- topic remap -->
<remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
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2 changes: 1 addition & 1 deletion planning/behavior_path_lane_change_module/src/interface.cpp
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Expand Up @@ -146,7 +146,7 @@ ModuleStatus LaneChangeInterface::updateState()
if (!module_type_->isAbleToReturnCurrentLane()) {
log_warn_throttled("Lane change path is unsafe but cannot return. Continue lane change.");
change_state_if_stop_required();
return within_turn_direction_lane ? ModuleStatus::FAILURE : ModuleStatus::RUNNING;
return within_turn_direction_lane ? ModuleStatus::SUCCESS : ModuleStatus::RUNNING;
}

const auto threshold = module_type_->getLaneChangeParam().backward_length_buffer_for_end_of_lane;
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