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chore(object_type_panel): update rosparam name config (#6347)
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
1 parent 9710828 commit b574523

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+87
-19
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1 file changed

+87
-19
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common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp

+87-19
Original file line numberDiff line numberDiff line change
@@ -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";
92-
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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}
103101

@@ -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";
110-
param_name.ns = "avoidance_by_lane_change.target_object";
111-
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";
131+
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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// 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");
154+
param_name.name.emplace("bicycle", "check_bicycle");
155+
param_name.name.emplace("motorcycle", "check_motorcycle");
156+
param_name.name.emplace("pedestrian", "check_pedestrian");
157+
param_names_.emplace(module, param_name);
158+
}
159+
160+
// dynamic_avoidance
161+
{
162+
const auto module = "dynamic_avoidance";
163+
ParamNameEnableObject param_name;
164+
param_name.node =
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"/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner";
166+
param_name.ns = "dynamic_avoidance.target_object";
167+
param_name.name = default_param_name.name;
168+
param_names_.emplace(module, param_name);
169+
}
170+
171+
// crosswalk
172+
{
173+
const auto module = "crosswalk";
174+
ParamNameEnableObject param_name;
175+
param_name.node =
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"/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner";
177+
param_name.ns = "crosswalk.object_filtering.target_object";
178+
param_name.name = default_param_name.name;
179+
param_names_.emplace(module, param_name);
180+
}
181+
133182
// obstacle cruise (inside)
134183
{
135184
const auto module = "obstacle_cruise (inside)";
@@ -152,6 +201,24 @@ void TargetObjectTypePanel::setParameters()
152201
param_names_.emplace(module, param_name);
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}
154203

204+
// surround_obstacle_check
205+
{
206+
const auto module = "surround_obstacle_checker";
207+
ParamNameEnableObject param_name;
208+
param_name.node =
209+
"/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker";
210+
param_name.ns = "";
211+
param_name.name.emplace("car", "car.enable_check");
212+
param_name.name.emplace("truck", "truck.enable_check");
213+
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");
216+
param_name.name.emplace("bicycle", "bicycle.enable_check");
217+
param_name.name.emplace("motorcycle", "motorcycle.enable_check");
218+
param_name.name.emplace("pedestrian", "pedestrian.enable_check");
219+
param_names_.emplace(module, param_name);
220+
}
221+
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// obstacle stop
156223
{
157224
const auto module = "obstacle_stop";
@@ -225,7 +292,8 @@ void TargetObjectTypePanel::updateMatrix()
225292
continue;
226293
}
227294

228-
std::string param_name = module_params.ns + "." + module_params.name.at(target);
295+
std::string param_name =
296+
(module_params.ns.empty() ? "" : module_params.ns + ".") + module_params.name.at(target);
229297
auto parameter_result = parameters_client->get_parameters({param_name});
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231299
if (!parameter_result.empty()) {

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