@@ -60,7 +60,12 @@ void TargetObjectTypePanel::setParameters()
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modules_ = {
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" avoidance" ,
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" avoidance_by_lane_change" ,
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+ " dynamic_avoidance" ,
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" lane_change" ,
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+ " start_planner" ,
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+ " goal_planner" ,
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+ " crosswalk" ,
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+ " surround_obstacle_checker" ,
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" obstacle_cruise (inside)" ,
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" obstacle_cruise (outside)" ,
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" obstacle_stop" ,
@@ -89,15 +94,8 @@ void TargetObjectTypePanel::setParameters()
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ParamNameEnableObject param_name;
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param_name.node =
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" /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner" ;
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- param_name.ns = " avoidance.target_object" ;
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- param_name.name .emplace (" car" , " car.is_target" );
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- param_name.name .emplace (" truck" , " truck.is_target" );
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- param_name.name .emplace (" bus" , " bus.is_target" );
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- param_name.name .emplace (" trailer" , " trailer.is_target" );
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- param_name.name .emplace (" unknown" , " unknown.is_target" );
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- param_name.name .emplace (" bicycle" , " bicycle.is_target" );
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- param_name.name .emplace (" motorcycle" , " motorcycle.is_target" );
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- param_name.name .emplace (" pedestrian" , " pedestrian.is_target" );
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+ param_name.ns = " avoidance.target_filtering.target_type" ;
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+ param_name.name = default_param_name.name ;
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param_names_.emplace (module, param_name);
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}
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@@ -107,15 +105,8 @@ void TargetObjectTypePanel::setParameters()
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ParamNameEnableObject param_name;
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param_name.node =
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" /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner" ;
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- param_name.ns = " avoidance_by_lane_change.target_object" ;
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- param_name.name .emplace (" car" , " car.is_target" );
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- param_name.name .emplace (" truck" , " truck.is_target" );
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- param_name.name .emplace (" bus" , " bus.is_target" );
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- param_name.name .emplace (" trailer" , " trailer.is_target" );
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- param_name.name .emplace (" unknown" , " unknown.is_target" );
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- param_name.name .emplace (" bicycle" , " bicycle.is_target" );
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- param_name.name .emplace (" motorcycle" , " motorcycle.is_target" );
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- param_name.name .emplace (" pedestrian" , " pedestrian.is_target" );
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+ param_name.ns = " avoidance_by_lane_change.target_filtering.target_type" ;
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+ param_name.name = default_param_name.name ;
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param_names_.emplace (module, param_name);
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}
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@@ -130,6 +121,64 @@ void TargetObjectTypePanel::setParameters()
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param_names_.emplace (module, param_name);
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}
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+ // start_planner
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+ {
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+ const auto module = " start_planner" ;
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+ ParamNameEnableObject param_name;
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+ param_name.node =
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+ " /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner" ;
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+ param_name.ns = " start_planner.path_safety_check.target_filtering.object_types_to_check" ;
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+ param_name.name .emplace (" car" , " check_car" );
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+ param_name.name .emplace (" truck" , " check_truck" );
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+ param_name.name .emplace (" bus" , " check_bus" );
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+ param_name.name .emplace (" trailer" , " check_trailer" );
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+ param_name.name .emplace (" unknown" , " check_unknown" );
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+ param_name.name .emplace (" bicycle" , " check_bicycle" );
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+ param_name.name .emplace (" motorcycle" , " check_motorcycle" );
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+ param_name.name .emplace (" pedestrian" , " check_pedestrian" );
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+ param_names_.emplace (module, param_name);
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+ }
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+
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+ // goal_planner
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+ {
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+ const auto module = " goal_planner" ;
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+ ParamNameEnableObject param_name;
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+ param_name.node =
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+ " /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner" ;
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+ param_name.ns = " goal_planner.path_safety_check.target_filtering.object_types_to_check" ;
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+ param_name.name .emplace (" car" , " check_car" );
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+ param_name.name .emplace (" truck" , " check_truck" );
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+ param_name.name .emplace (" bus" , " check_bus" );
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+ param_name.name .emplace (" trailer" , " check_trailer" );
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+ param_name.name .emplace (" unknown" , " check_unknown" );
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+ param_name.name .emplace (" bicycle" , " check_bicycle" );
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+ param_name.name .emplace (" motorcycle" , " check_motorcycle" );
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+ param_name.name .emplace (" pedestrian" , " check_pedestrian" );
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+ param_names_.emplace (module, param_name);
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+ }
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+
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+ // dynamic_avoidance
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+ {
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+ const auto module = " dynamic_avoidance" ;
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+ ParamNameEnableObject param_name;
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+ param_name.node =
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+ " /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner" ;
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+ param_name.ns = " dynamic_avoidance.target_object" ;
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+ param_name.name = default_param_name.name ;
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+ param_names_.emplace (module, param_name);
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+ }
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+
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+ // crosswalk
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+ {
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+ const auto module = " crosswalk" ;
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+ ParamNameEnableObject param_name;
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+ param_name.node =
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+ " /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner" ;
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+ param_name.ns = " crosswalk.object_filtering.target_object" ;
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+ param_name.name = default_param_name.name ;
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+ param_names_.emplace (module, param_name);
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+ }
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+
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// obstacle cruise (inside)
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{
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const auto module = " obstacle_cruise (inside)" ;
@@ -152,6 +201,24 @@ void TargetObjectTypePanel::setParameters()
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param_names_.emplace (module, param_name);
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}
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+ // surround_obstacle_check
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+ {
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+ const auto module = " surround_obstacle_checker" ;
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+ ParamNameEnableObject param_name;
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+ param_name.node =
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+ " /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker" ;
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+ param_name.ns = " " ;
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+ param_name.name .emplace (" car" , " car.enable_check" );
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+ param_name.name .emplace (" truck" , " truck.enable_check" );
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+ param_name.name .emplace (" bus" , " bus.enable_check" );
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+ param_name.name .emplace (" trailer" , " trailer.enable_check" );
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+ param_name.name .emplace (" unknown" , " unknown.enable_check" );
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+ param_name.name .emplace (" bicycle" , " bicycle.enable_check" );
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+ param_name.name .emplace (" motorcycle" , " motorcycle.enable_check" );
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+ param_name.name .emplace (" pedestrian" , " pedestrian.enable_check" );
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+ param_names_.emplace (module, param_name);
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+ }
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+
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// obstacle stop
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{
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const auto module = " obstacle_stop" ;
@@ -225,7 +292,8 @@ void TargetObjectTypePanel::updateMatrix()
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continue ;
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}
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- std::string param_name = module_params.ns + " ." + module_params.name .at (target);
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+ std::string param_name =
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+ (module_params.ns .empty () ? " " : module_params.ns + " ." ) + module_params.name .at (target);
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auto parameter_result = parameters_client->get_parameters ({param_name});
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if (!parameter_result.empty ()) {
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