@@ -54,12 +54,19 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
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const auto motion_velocity_smoother_dir =
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ament_index_cpp::get_package_share_directory (" motion_velocity_smoother" );
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- const auto get_behavior_velocity_module_config = [](const std::string & module) {
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+ // TODO(esteve): delete when all the modules are migrated to autoware_behavior_velocity_*
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+ const auto get_behavior_velocity_module_config_no_prefix = [](const std::string & module) {
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const auto package_name = " behavior_velocity_" + module + " _module" ;
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const auto package_path = ament_index_cpp::get_package_share_directory (package_name);
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return package_path + " /config/" + module + " .param.yaml" ;
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};
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+ const auto get_behavior_velocity_module_config = [](const std::string & module) {
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+ const auto package_name = " autoware_behavior_velocity_" + module + " _module" ;
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+ const auto package_path = ament_index_cpp::get_package_share_directory (package_name);
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+ return package_path + " /config/" + module + " .param.yaml" ;
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+ };
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+
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std::vector<std::string> module_names;
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module_names.emplace_back (" behavior_velocity_planner::CrosswalkModulePlugin" );
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module_names.emplace_back (" autoware::behavior_velocity_planner::WalkwayModulePlugin" );
@@ -90,20 +97,20 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
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motion_velocity_smoother_dir + " /config/default_motion_velocity_smoother.param.yaml" ,
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motion_velocity_smoother_dir + " /config/Analytical.param.yaml" ,
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behavior_velocity_planner_dir + " /config/behavior_velocity_planner.param.yaml" ,
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- get_behavior_velocity_module_config (" blind_spot" ),
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- get_behavior_velocity_module_config (" crosswalk" ),
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+ get_behavior_velocity_module_config_no_prefix (" blind_spot" ),
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+ get_behavior_velocity_module_config_no_prefix (" crosswalk" ),
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get_behavior_velocity_module_config (" walkway" ),
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- get_behavior_velocity_module_config (" detection_area" ),
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- get_behavior_velocity_module_config (" intersection" ),
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- get_behavior_velocity_module_config (" no_stopping_area" ),
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- get_behavior_velocity_module_config (" occlusion_spot" ),
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- get_behavior_velocity_module_config (" run_out" ),
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- get_behavior_velocity_module_config (" speed_bump" ),
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- get_behavior_velocity_module_config (" stop_line" ),
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- get_behavior_velocity_module_config (" traffic_light" ),
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- get_behavior_velocity_module_config (" virtual_traffic_light" ),
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- get_behavior_velocity_module_config (" out_of_lane" ),
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- get_behavior_velocity_module_config (" no_drivable_lane" )});
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+ get_behavior_velocity_module_config_no_prefix (" detection_area" ),
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+ get_behavior_velocity_module_config_no_prefix (" intersection" ),
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+ get_behavior_velocity_module_config_no_prefix (" no_stopping_area" ),
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+ get_behavior_velocity_module_config_no_prefix (" occlusion_spot" ),
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+ get_behavior_velocity_module_config_no_prefix (" run_out" ),
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+ get_behavior_velocity_module_config_no_prefix (" speed_bump" ),
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+ get_behavior_velocity_module_config_no_prefix (" stop_line" ),
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+ get_behavior_velocity_module_config_no_prefix (" traffic_light" ),
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+ get_behavior_velocity_module_config_no_prefix (" virtual_traffic_light" ),
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+ get_behavior_velocity_module_config_no_prefix (" out_of_lane" ),
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+ get_behavior_velocity_module_config_no_prefix (" no_drivable_lane" )});
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// TODO(Takagi, Isamu): set launch_modules
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// TODO(Kyoichi Sugahara) set to true launch_virtual_traffic_light
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