fix(AbLC, lane_change): fix module name inconsistency (autowarefounda…

…tion#6090) * fix(AbLC): rename Signed-off-by: satoshi-ota <[email protected]> * fix(AbLC, LC): fix duplicated rtc setting Signed-off-by: satoshi-ota <[email protected]> * fix(bpp): fix module name inconsistency Signed-off-by: satoshi-ota <[email protected]> * fix(AbLC): rename Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
tier4 · Jan 18, 2024 · 75884b0 · 75884b0
1 parent fa0b084
commit 75884b0
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Showing 8 changed files with 15 additions and 11 deletions.
diff --git a/..._module/config/avoidance_by_lc.param.yaml → ...onfig/avoidance_by_lane_change.param.yaml b/..._module/config/avoidance_by_lc.param.yaml → ...onfig/avoidance_by_lane_change.param.yaml
diff --git a/...e_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/manager.hpp b/...e_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/manager.hpp
@@ -35,7 +35,7 @@ class AvoidanceByLaneChangeModuleManager : public LaneChangeModuleManager
 public:
   AvoidanceByLaneChangeModuleManager()
   : LaneChangeModuleManager(
-      "avoidance_by_lc", route_handler::Direction::NONE,
+      "avoidance_by_lane_change", route_handler::Direction::NONE,
       LaneChangeModuleType::AVOIDANCE_BY_LANE_CHANGE)
   {
   }

diff --git a/planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp b/planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp
@@ -37,7 +37,7 @@ void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node)
   initInterface(node, {"left", "right"});
 
   // init lane change manager
-  LaneChangeModuleManager::init(node);
+  LaneChangeModuleManager::initParams(node);
 
   const auto avoidance_params = getParameter(node);
   AvoidanceByLCParameters p(avoidance_params);

diff --git a/...r_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/...r_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -70,7 +70,7 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
      ament_index_cpp::get_package_share_directory("behavior_path_avoidance_module") +
        "/config/avoidance.param.yaml",
      ament_index_cpp::get_package_share_directory("behavior_path_avoidance_by_lane_change_module") +
-       "/config/avoidance_by_lc.param.yaml"});
+       "/config/avoidance_by_lane_change.param.yaml"});
 
   return std::make_shared<BehaviorPathPlannerNode>(node_options);
 }

diff --git a/...ing/behavior_path_lane_change_module/include/behavior_path_lane_change_module/manager.hpp b/...ing/behavior_path_lane_change_module/include/behavior_path_lane_change_module/manager.hpp
@@ -45,6 +45,8 @@ class LaneChangeModuleManager : public SceneModuleManagerInterface
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;
 
 protected:
+  void initParams(rclcpp::Node * node);
+
   std::shared_ptr<LaneChangeParameters> parameters_;
 
   Direction direction_;

diff --git a/planning/behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_lane_change_module/src/manager.cpp
@@ -29,10 +29,14 @@ namespace behavior_path_planner
 
 void LaneChangeModuleManager::init(rclcpp::Node * node)
 {
-  using tier4_autoware_utils::getOrDeclareParameter;
-
   // init manager interface
   initInterface(node, {""});
+  initParams(node);
+}
+
+void LaneChangeModuleManager::initParams(rclcpp::Node * node)
+{
+  using tier4_autoware_utils::getOrDeclareParameter;
 
   LaneChangeParameters p{};
 

diff --git a/planning/behavior_path_planner/config/scene_module_manager.param.yaml b/planning/behavior_path_planner/config/scene_module_manager.param.yaml
@@ -67,7 +67,7 @@
       priority: 4
       max_module_size: 1
 
-    avoidance_by_lc:
+    avoidance_by_lane_change:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false

diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp
@@ -859,11 +859,9 @@ void PlannerManager::resetRootLanelet(const std::shared_ptr<PlannerData> & data)
 
   // when lane change module is running, don't update root lanelet.
   const bool is_lane_change_running = std::invoke([&]() {
-    const auto lane_change_itr =
-      std::find_if(approved_module_ptrs_.begin(), approved_module_ptrs_.end(), [](const auto & m) {
-        return m->name().find("lane_change") != std::string::npos ||
-               m->name().find("avoidance_by_lc") != std::string::npos;
-      });
+    const auto lane_change_itr = std::find_if(
+      approved_module_ptrs_.begin(), approved_module_ptrs_.end(),
+      [](const auto & m) { return m->isRootLaneletToBeUpdated(); });
     return lane_change_itr != approved_module_ptrs_.end();
   });
   if (is_lane_change_running) {