From 34421051b2fc558f2e3c9709ce0b52b23e8ad011 Mon Sep 17 00:00:00 2001
From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date: Fri, 7 Apr 2023 21:10:09 +0900
Subject: [PATCH] feat(behavior_path_planner): multiple candidate modules can
 run simultaneously (#266)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 .../scene_module_manager.param.yaml           | 27 ++++++++++++-------
 1 file changed, 18 insertions(+), 9 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 622b8ee90a..a91490b00b 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
@@ -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