feat(avoidance): use free steer policy for safety check

satoshi-ota · satoshi-ota · commit 03a5be8850ad · 2024-02-06T18:15:44.000+09:00
Signed-off-by: satoshi-ota &lt;satoshi.ota928@gmail.com&gt;
diff --git a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml
@@ -187,6 +187,7 @@
         time_horizon_for_rear_object: 10.0               # [s]
         delay_until_departure: 0.0                       # [s]
         # rss parameters
+        steering: "free"                                 # [-] select "fixed" or "free"
         expected_front_deceleration: -1.0                # [m/ss]
         expected_rear_deceleration: -1.0                 # [m/ss]
         rear_vehicle_reaction_time: 2.0                  # [s]
diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp
@@ -223,6 +223,7 @@ AvoidanceParameters getParameter(rclcpp::Node * node)
   // safety check rss params
   {
     const std::string ns = "avoidance.safety_check.";
+    p.rss_params.steering = getOrDeclareParameter<std::string>(*node, ns + "steering");
     p.rss_params.longitudinal_distance_min_threshold =
       getOrDeclareParameter<double>(*node, ns + "longitudinal_distance_min_threshold");
     p.rss_params.longitudinal_velocity_delta_time =

Original file line number	Diff line number	Diff line change
`@@ -223,6 +223,7 @@ AvoidanceParameters getParameter(rclcpp::Node * node)`
`223`	`223`	`// safety check rss params`
`224`	`224`	`{`
`225`	`225`	`const std::string ns = "avoidance.safety_check.";`
	`226`	`+ p.rss_params.steering = getOrDeclareParameter<std::string>(*node, ns + "steering");`
`226`	`227`	`p.rss_params.longitudinal_distance_min_threshold =`
`227`	`228`	`getOrDeclareParameter<double>(*node, ns + "longitudinal_distance_min_threshold");`
`228`	`229`	`p.rss_params.longitudinal_velocity_delta_time =`