From c6856e97f015b457811bc36c0cb728d93a65bb3b Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 18 May 2023 12:18:07 +0900 Subject: [PATCH] feat(behavior): increase dynamic avoidance module priority (#355) Signed-off-by: satoshi-ota --- .../scene_module_manager.param.yaml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 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 32da47b1c9..76ae718c01 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 @@ -7,28 +7,28 @@ enable_module: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true - priority: 6 + priority: 7 max_module_size: 1 external_request_lane_change_right: enable_module: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true - priority: 6 + priority: 7 max_module_size: 1 lane_change_left: enable_module: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - priority: 5 + priority: 6 max_module_size: 1 lane_change_right: enable_module: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - priority: 5 + priority: 6 max_module_size: 1 pull_out: @@ -56,7 +56,7 @@ enable_module: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false - priority: 4 + priority: 5 max_module_size: 1 # NOTE: This module is unstable. Deprecated for now. @@ -64,12 +64,12 @@ enable_module: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false - priority: 3 + priority: 4 max_module_size: 1 dynamic_avoidance: enable_module: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - priority: 7 + priority: 3 max_module_size: 1