rename param

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

Author: danielsanchezaran

planning/behavior_path_start_planner_module/config/start_planner.param.yaml

@@ -7,6 +7,7 @@
       th_stopped_time: 1.0
       collision_check_margins: [2.0, 1.0, 0.5, 0.1]
       collision_check_margin_from_front_object: 5.0
+      extra_width_margin_for_rear_obstacle: 0.5
       th_moving_object_velocity: 1.0
       object_types_to_check_for_path_generation:
         check_car: true

planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/data_structs.hpp

@@ -64,6 +64,7 @@ struct StartPlannerParameters
   double th_distance_to_middle_of_the_road{0.0};
   double intersection_search_length{0.0};
   double length_ratio_for_turn_signal_deactivation_near_intersection{0.0};
+  double extra_width_margin_for_rear_obstacle{0.0};
   std::vector<double> collision_check_margins{};
   double collision_check_margin_from_front_object{0.0};
   double th_moving_object_velocity{0.0};

planning/behavior_path_start_planner_module/src/manager.cpp

@@ -44,6 +44,8 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
   p.intersection_search_length = node->declare_parameter<double>(ns + "intersection_search_length");
   p.length_ratio_for_turn_signal_deactivation_near_intersection = node->declare_parameter<double>(
     ns + "length_ratio_for_turn_signal_deactivation_near_intersection");
+  p.extra_width_margin_for_rear_obstacle =
+    node->declare_parameter<double>(ns + "extra_width_margin_for_rear_obstacle");
   p.collision_check_margins =
     node->declare_parameter<std::vector<double>>(ns + "collision_check_margins");
   p.collision_check_margin_from_front_object =
@@ -371,6 +373,10 @@ void StartPlannerModuleManager::updateModuleParams(
     updateParam<double>(
       parameters, ns + "length_ratio_for_turn_signal_deactivation_near_intersection",
       p->length_ratio_for_turn_signal_deactivation_near_intersection);
+    updateParam<double>(
+      parameters, ns + "extra_width_margin_for_rear_obstacle",
+      p->extra_width_margin_for_rear_obstacle);
+
     updateParam<std::vector<double>>(
       parameters, ns + "collision_check_margins", p->collision_check_margins);
     updateParam<double>(

planning/behavior_path_start_planner_module/src/start_planner_module.cpp

@@ -401,7 +401,6 @@ bool StartPlannerModule::isPreventingRearVehicleFromCrossing() const
   const auto closest_object_width = std::invoke([&]() -> std::optional<double> {
     double arc_length_to_closet_object = std::numeric_limits<double>::max();
     double closest_object_width = -1.0;
-
     std::for_each(
       target_objects_on_lane.on_current_lane.begin(), target_objects_on_lane.on_current_lane.end(),
       [&](const auto & o) {
@@ -420,8 +419,11 @@ bool StartPlannerModule::isPreventingRearVehicleFromCrossing() const
   std::cerr << "Dims \n";
   std::cerr << "target_object_itr->shape.dimensions.y " << closest_object_width.value() << "\n";
   std::cerr << "gap_between_ego_and_lane_border " << gap_between_ego_and_lane_border << "\n";
+  std::cerr << "parameters_->extra_width_margin_for_rear_obstacle "
+            << parameters_->extra_width_margin_for_rear_obstacle << "\n";
   // Decide if the closest object does not fit in the gap left by the ego vehicle.
-  return closest_object_width.value() > gap_between_ego_and_lane_border;
+  return closest_object_width.value() + parameters_->extra_width_margin_for_rear_obstacle >
+         gap_between_ego_and_lane_border;
 }
 
 bool StartPlannerModule::isOverlapWithCenterLane() const