fix autoware launch (autowarefoundation#885) (autowarefoundation#886)

Signed-off-by: Yuxuan Liu <[email protected]> Co-authored-by: Yuxuan Liu <[email protected]> Co-authored-by: Yuxuan Liu <[email protected]>
tier4 · Jun 25, 2024 · 6e4bdb6 · 6e4bdb6
1 parent 4e63313
commit 6e4bdb6
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Showing 5 changed files with 21 additions and 16 deletions.
diff --git a/autoware_launch/config/planning/preset/xx1_preset.yaml b/autoware_launch/config/planning/preset/xx1_preset.yaml
@@ -1,13 +1,13 @@
 launch:
   # behavior path modules
   - arg:
-      name: launch_avoidance_module
+      name: launch_static_obstacle_avoidance
       default: "true"
   - arg:
       name: launch_avoidance_by_lane_change_module
       default: "false"
   - arg:
-      name: launch_dynamic_avoidance_module
+      name: launch_dynamic_obstacle_avoidance
       default: "true"
   - arg:
       name: launch_sampling_planner_module
@@ -77,15 +77,9 @@ launch:
   - arg:
       name: launch_speed_bump_module
       default: "false"
-  - arg:
-      name: launch_out_of_lane_module
-      default: "true"
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
-  - arg:
-      name: launch_dynamic_obstacle_stop_module
-      default: "true"
 
   # motion planning modules
   - arg:
@@ -96,11 +90,22 @@ launch:
 
   - arg:
       name: motion_path_planner_type
-      default: obstacle_avoidance_planner
-      # option: obstacle_avoidance_planner
+      default: path_optimizer
+      # option: path_optimizer
       #         path_sampler
       #         none
 
+  # motion velocity planner modules
+  - arg:
+      name: launch_dynamic_obstacle_stop_module
+      default: "true"
+  - arg:
+      name: launch_out_of_lane_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_velocity_limiter_module
+      default: "true"
+
   - arg:
       name: motion_stop_planner_type
       default: obstacle_cruise_planner
@@ -109,7 +114,7 @@ launch:
       #         none
 
   - arg:
-      name: motion_velocity_smoother_type
+      name: velocity_smoother_type
       default: JerkFiltered
       # option: JerkFiltered
       #         L2

diff --git a/.../lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml b/.../lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
@@ -59,7 +59,7 @@
       priority: 1
       max_module_size: 1
 
-    avoidance:
+    static_obstacle_avoidance:
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
@@ -75,7 +75,7 @@
       priority: 3
       max_module_size: 1
 
-    dynamic_avoidance:
+    dynamic_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true

diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
@@ -21,7 +21,7 @@
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp
         # /autoware/control/autonomous_driving/performance_monitoring/control_validator: default
         /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
-        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
+        /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
         # /autoware/control/external_control/local_external_control/device_connection: default
 

diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -21,7 +21,7 @@
         /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
         # /autoware/control/autonomous_driving/performance_monitoring/control_validator: default
         /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
-        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
+        /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
         /autoware/control/external_control/local_external_control/device_connection: default
 

diff --git a/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -21,7 +21,7 @@
         /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
         # /autoware/control/autonomous_driving/performance_monitoring/control_validator: default
         /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
-        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
+        /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
 
         /autoware/localization/node_alive_monitoring: default