Merge pull request #1114 from tier4/fix/external_velocity_limit_selector

fix(external_velocity_limit_selector): revert "refactor(external_velocity_limit_selector): rework parameter (autowarefoundation#5238)"

planning/external_velocity_limit_selector/README.md

@@ -51,7 +51,17 @@ Example:
 
 ## Parameters
 
-{{ json_to_markdown("planning/external_velocity_limit_selector/schema/external_velocity_limit_selector.schema.json") }}
+| Parameter         | Type   | Description                                |
+| ----------------- | ------ | ------------------------------------------ |
+| `max_velocity`    | double | default max velocity [m/s]                 |
+| `normal.min_acc`  | double | minimum acceleration [m/ss]                |
+| `normal.max_acc`  | double | maximum acceleration [m/ss]                |
+| `normal.min_jerk` | double | minimum jerk [m/sss]                       |
+| `normal.max_jerk` | double | maximum jerk [m/sss]                       |
+| `limit.min_acc`   | double | minimum acceleration to be observed [m/ss] |
+| `limit.max_acc`   | double | maximum acceleration to be observed [m/ss] |
+| `limit.min_jerk`  | double | minimum jerk to be observed [m/sss]        |
+| `limit.max_jerk`  | double | maximum jerk to be observed [m/sss]        |
 
 ## Assumptions / Known limits
 

planning/external_velocity_limit_selector/config/default.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    # motion state constraints
+    max_velocity: 20.0      # max velocity limit [m/s]

planning/external_velocity_limit_selector/config/default_common.param.yaml

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    # constraints param for normal driving
+    normal:
+      min_acc: -0.5         # min deceleration [m/ss]
+      max_acc: 1.0          # max acceleration [m/ss]
+      min_jerk: -0.5        # min jerk [m/sss]
+      max_jerk: 1.0         # max jerk [m/sss]
+
+    # constraints to be observed
+    limit:
+      min_acc: -2.5         # min deceleration limit [m/ss]
+      max_acc: 1.0          # max acceleration limit [m/ss]
+      min_jerk: -1.5        # min jerk limit [m/sss]
+      max_jerk: 1.5         # max jerk limit [m/sss]

planning/external_velocity_limit_selector/launch/external_velocity_limit_selector.launch.xml

@@ -1,6 +1,7 @@
 <launch>
   <!-- common param -->
-  <arg name="external_velocity_limit_selector_param_path" default="$(find-pkg-share external_velocity_limit_selector)/config/external_velocity_limit_selector.param.yaml"/>
+  <arg name="common_param_path" default="$(find-pkg-share external_velocity_limit_selector)/config/default_common.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share external_velocity_limit_selector)/config/default.param.yaml"/>
 
   <!-- input/output -->
   <arg name="input_velocity_limit_from_api" default="/planning/scenario_planning/max_velocity_default"/>
@@ -10,7 +11,8 @@
   <arg name="output_debug_string" default="/planning/scenario_planning/external_velocity_limit_selector/debug"/>
 
   <node pkg="external_velocity_limit_selector" exec="external_velocity_limit_selector" name="external_velocity_limit_selector" output="screen">
-    <param from="$(var external_velocity_limit_selector_param_path)"/>
+    <param from="$(var common_param_path)"/>
+    <param from="$(var param_path)"/>
     <remap from="input/velocity_limit_from_api" to="$(var input_velocity_limit_from_api)"/>
     <remap from="input/velocity_limit_from_internal" to="$(var input_velocity_limit_from_internal)"/>
     <remap from="input/velocity_limit_clear_command_from_internal" to="$(var input_velocity_limit_clear_command_from_internal)"/>