feat(out_of_lane): set velocity_factor to ROUTE_OBSTACLE (autowarefoundation#6668)

maxime-clem · karishma1911 · commit 8549d9f45fe3 · 2024-06-03T10:23:23.000+05:30
Signed-off-by: Maxime CLEMENT &lt;maxime.clement@tier4.jp&gt;
diff --git a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp
@@ -52,7 +52,7 @@ OutOfLaneModule::OutOfLaneModule(
   const rclcpp::Clock::SharedPtr clock)
 : SceneModuleInterface(module_id, logger, clock), params_(std::move(planner_param))
 {
-  velocity_factor_.init(PlanningBehavior::UNKNOWN);
+  velocity_factor_.init(PlanningBehavior::ROUTE_OBSTACLE);
 }
 
 bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason)
@@ -175,7 +175,7 @@ bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto
     }
     velocity_factor_.set(
       path->points, planner_data_->current_odometry->pose, point_to_insert->point.point.pose,
-      VelocityFactor::UNKNOWN);
+      VelocityFactor::ROUTE_OBSTACLE);
   } else if (!decisions.empty()) {
     RCLCPP_WARN(logger_, "Could not insert stop point (would violate max deceleration limits)");
   }

Original file line number	Diff line number	Diff line change
`@@ -52,7 +52,7 @@ OutOfLaneModule::OutOfLaneModule(`
`52`	`52`	`const rclcpp::Clock::SharedPtr clock)`
`53`	`53`	`: SceneModuleInterface(module_id, logger, clock), params_(std::move(planner_param))`
`54`	`54`	`{`
`55`		`- velocity_factor_.init(PlanningBehavior::UNKNOWN);`
	`55`	`+ velocity_factor_.init(PlanningBehavior::ROUTE_OBSTACLE);`
`56`	`56`	`}`
`57`	`57`
`58`	`58`	`bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason)`
`@@ -175,7 +175,7 @@ bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto`
`175`	`175`	`}`
`176`	`176`	`velocity_factor_.set(`
`177`	`177`	`path->points, planner_data_->current_odometry->pose, point_to_insert->point.point.pose,`
`178`		`- VelocityFactor::UNKNOWN);`
	`178`	`+ VelocityFactor::ROUTE_OBSTACLE);`
`179`	`179`	`} else if (!decisions.empty()) {`
`180`	`180`	`RCLCPP_WARN(logger_, "Could not insert stop point (would violate max deceleration limits)");`
`181`	`181`	`}`