feat(behavior_path_planner): multiple candidate modules can run simul…

…taneously (#266) Signed-off-by: satoshi-ota <[email protected]>
tier4 · Apr 7, 2023 · 3442105 · 3442105
1 parent adc0a3b
commit 3442105
Showing 1 changed file with 18 additions and 9 deletions.
diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -5,55 +5,64 @@
   ros__parameters:
     external_request_lane_change_left:
       enable_module: false
-      enable_simultaneous_execution: false
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: true
       priority: 6
       max_module_size: 1
 
     external_request_lane_change_right:
       enable_module: false
-      enable_simultaneous_execution: false
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: true
       priority: 6
       max_module_size: 1
 
     lane_change_left:
       enable_module: true
-      enable_simultaneous_execution: true
+      enable_simultaneous_execution_as_approved_module: true
+      enable_simultaneous_execution_as_candidate_module: true
       priority: 5
       max_module_size: 1
 
     lane_change_right:
       enable_module: true
-      enable_simultaneous_execution: true
+      enable_simultaneous_execution_as_approved_module: true
+      enable_simultaneous_execution_as_candidate_module: true
       priority: 5
       max_module_size: 1
 
     pull_out:
       enable_module: true
-      enable_simultaneous_execution: false
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: false
       priority: 0
       max_module_size: 1
 
     side_shift:
       enable_module: true
-      enable_simultaneous_execution: false
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: false
       priority: 2
       max_module_size: 1
 
     pull_over:
       enable_module: true
-      enable_simultaneous_execution: false
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: false
       priority: 1
       max_module_size: 1
 
     avoidance:
       enable_module: true
-      enable_simultaneous_execution: true
+      enable_simultaneous_execution_as_approved_module: true
+      enable_simultaneous_execution_as_candidate_module: false
       priority: 4
       max_module_size: 1
 
     # NOTE: This module is unstable. Deprecated for now.
     avoidance_by_lc:
       enable_module: false
-      enable_simultaneous_execution: false
+      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_candidate_module: false
       priority: 3
       max_module_size: 1