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7 | 7 | <arg name="enable_all_modules_auto_mode"/>
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8 | 8 | <arg name="is_simulation"/>
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9 | 9 |
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10 |
| - <arg name="launch_avoidance_module" default="true"/> |
| 10 | + <arg name="launch_static_obstacle_avoidance" default="true"/> |
11 | 11 | <arg name="launch_avoidance_by_lane_change_module" default="true"/>
|
12 |
| - <arg name="launch_dynamic_avoidance_module" default="true"/> |
| 12 | + <arg name="launch_dynamic_obstacle_avoidance" default="true"/> |
13 | 13 | <arg name="launch_lane_change_right_module" default="true"/>
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14 | 14 | <arg name="launch_lane_change_left_module" default="true"/>
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15 | 15 | <arg name="launch_external_request_lane_change_right_module" default="true"/>
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|
43 | 43 | <let
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44 | 44 | name="behavior_path_planner_launch_modules"
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45 | 45 | value="$(eval "'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::StaticObstacleAvoidanceModuleManager, '")"
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46 |
| - if="$(var launch_avoidance_module)" |
| 46 | + if="$(var launch_static_obstacle_avoidance)" |
47 | 47 | />
|
48 | 48 | <let
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49 | 49 | name="behavior_path_planner_launch_modules"
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50 | 50 | value="$(eval "'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::DynamicObstacleAvoidanceModuleManager, '")"
|
51 |
| - if="$(var launch_dynamic_avoidance_module)" |
| 51 | + if="$(var launch_dynamic_obstacle_avoidance)" |
52 | 52 | />
|
53 | 53 | <let
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54 | 54 | name="behavior_path_planner_launch_modules"
|
|
206 | 206 | <param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
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207 | 207 | <param name="is_simulation" value="$(var is_simulation)"/>
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208 | 208 | <param from="$(var behavior_path_planner_side_shift_module_param_path)"/>
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209 |
| - <param from="$(var behavior_path_planner_avoidance_module_param_path)"/> |
| 209 | + <param from="$(var behavior_path_planner_static_obstacle_avoidance_module_param_path)"/> |
210 | 210 | <param from="$(var behavior_path_planner_avoidance_by_lc_module_param_path)"/>
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211 |
| - <param from="$(var behavior_path_planner_dynamic_avoidance_module_param_path)"/> |
| 211 | + <param from="$(var behavior_path_planner_dynamic_obstacle_avoidance_module_param_path)"/> |
212 | 212 | <param from="$(var behavior_path_planner_lane_change_module_param_path)"/>
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213 | 213 | <param from="$(var behavior_path_planner_goal_planner_module_param_path)"/>
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214 | 214 | <param from="$(var behavior_path_planner_start_planner_module_param_path)"/>
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