feat(avoidance_by_lc): add new module to avoid obstacle by lane change (

#261) * feat(avoidance_by_lc): add config Signed-off-by: satoshi-ota <[email protected]> * feat(launch): add avoidance by lc param path Signed-off-by: satoshi-ota <[email protected]> * feat(rviz): add marker for avoidance by lc Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
tier4 · Apr 6, 2023 · a3a6793 · a3a6793
1 parent e836c1d
commit a3a6793
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Showing 4 changed files with 64 additions and 1 deletion.
diff --git a/...riving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/...riving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    avoidance_by_lane_change:
+      execute_object_num: 1
+      execute_object_longitudinal_margin: 0.0
+      execute_only_when_lane_change_finish_before_object: true
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
@@ -24,7 +24,7 @@
     lane_change_right:
       enable_module: true
       enable_simultaneous_execution: false
-      priority: 4
+      priority: 5
       max_module_size: 1
 
     pull_out:
@@ -47,6 +47,13 @@
 
     avoidance:
       enable_module: true
+      enable_simultaneous_execution: true
+      priority: 4
+      max_module_size: 1
+
+    # NOTE: This module is unstable. Deprecated for now.
+    avoidance_by_lc:
+      enable_module: false
       enable_simultaneous_execution: false
       priority: 3
       max_module_size: 1
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -33,6 +33,10 @@
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml"
     />
     <arg name="avoidance_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml"/>
+    <arg
+      name="avoidance_by_lc_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml"
+    />
     <arg
       name="lane_change_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml"

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1011,6 +1011,29 @@ Visualization Manager:
                         Constant Color: false
                         Scale: 0.30000001192092896
                         Value: true
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: false
+                      Name: PathReference_AvoidanceByLC
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_reference/avoidance_by_lane_change
+                      Value: true
+                      View Path:
+                        Alpha: 0.3
+                        Color: 210; 110; 10
+                        Constant Color: true
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: false
@@ -1126,6 +1149,29 @@ Visualization Manager:
                         Constant Color: false
                         Scale: 0.30000001192092896
                         Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: true
+                      Name: PathChangeCandidate_AvoidanceByLC
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_candidate/avoidance_by_lane_change
+                      Value: true
+                      View Path:
+                        Alpha: 0.30000001192092896
+                        Color: 115; 210; 22
+                        Constant Color: false
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true