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feat(behavior_velocity_planner): add flag to enable auto mode without rtc_auto_mode_manager #435

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merged 10 commits into from
Jul 22, 2023
Merged

feat(behavior_velocity_planner): add flag to enable auto mode without rtc_auto_mode_manager #435

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7b2b2f5
add enable_rtc param
kyoichi-sugahara Jun 23, 2023
fe8dbee
Merge branch 'main' into feat/auto_mode_with_flag_velocity_planner
kyoichi-sugahara Jun 23, 2023
f3418f0
Merge branch 'main' into feat/auto_mode_with_flag_velocity_planner
kyoichi-sugahara Jun 24, 2023
8dbc7ea
Merge branch 'main' into feat/auto_mode_with_flag_velocity_planner
kyoichi-sugahara Jun 28, 2023
dd4791c
Merge branch 'main' into feat/auto_mode_with_flag_velocity_planner
kyoichi-sugahara Jul 1, 2023
e62a9a3
fix typo
kyoichi-sugahara Jul 5, 2023
13e43df
Merge branch 'main' into feat/auto_mode_with_flag_velocity_planner
kyoichi-sugahara Jul 5, 2023
7fbc5dc
revert change of rviz config
kyoichi-sugahara Jul 19, 2023
cf0c7af
revert change of rviz config
kyoichi-sugahara Jul 19, 2023
ca120e6
Merge branch 'main' into feat/auto_mode_with_flag_velocity_planner
kyoichi-sugahara Jul 20, 2023
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1 change: 1 addition & 0 deletions ...o_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
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max_future_movement_time: 10.0 # [second]
threshold_yaw_diff: 0.523 # [rad]
adjacent_extend_width: 1.5 # [m]
enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
1 change: 1 addition & 0 deletions ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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show_processing_time: false # [-] whether to show processing time
# param for input data
traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.

# param for stop position
stop_position:
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1 change: 1 addition & 0 deletions ...anning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
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state_clear_time: 2.0
hold_stop_margin_distance: 0.0
distance_to_judge_over_stop_line: 0.5
enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
4 changes: 4 additions & 0 deletions ...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
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Expand Up @@ -48,5 +48,9 @@
denoise_kernel: 1.0 # [m]
pub_debug_grid: false

enable_rtc:
intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
intersection_to_occlusion: true

merge_from_private:
stop_duration_sec: 1.0
1 change: 1 addition & 0 deletions ...ning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml
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stop_line_margin: 1.0 # [m] margin to auto-gen stop line at no stopping area
detection_area_length: 200.0 # [m] used to create detection area polygon
stuck_vehicle_front_margin: 6.0 # [m] obstacle stop max distance(5.0m)
enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
1 change: 1 addition & 0 deletions ...lanning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
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tl_state_timeout: 1.0
yellow_lamp_period: 2.75
enable_pass_judge: true
enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval