From 20abccc31119c1e927f06da1a36a34b9b5515b24 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 26 Sep 2023 18:45:00 +0900 Subject: [PATCH] feat(autoware_launch): move dynamic_avoidance last (#593) Signed-off-by: Takayuki Murooka --- .../scene_module_manager.param.yaml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) 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 d57d743273..84e5c17f25 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 @@ -9,7 +9,7 @@ enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true keep_last: false - priority: 7 + priority: 6 max_module_size: 1 external_request_lane_change_right: @@ -18,7 +18,7 @@ enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true keep_last: false - priority: 7 + priority: 6 max_module_size: 1 lane_change_left: @@ -27,7 +27,7 @@ enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: false - priority: 6 + priority: 5 max_module_size: 1 lane_change_right: @@ -36,7 +36,7 @@ enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: false - priority: 6 + priority: 5 max_module_size: 1 start_planner: @@ -72,7 +72,7 @@ enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: false - priority: 5 + priority: 4 max_module_size: 1 avoidance_by_lc: @@ -81,7 +81,7 @@ enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: false - priority: 4 + priority: 3 max_module_size: 1 dynamic_avoidance: @@ -89,6 +89,6 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - keep_last: false - priority: 3 + keep_last: true + priority: 7 max_module_size: 1