feat(behavior_velocity_planner): enable auto mode without rtc_auto_mode_manager (#4054)

kyoichi-sugahara · web-flow · commit 01cea10ae68e · 2023-07-22T09:56:07.000Z
* temp

Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;

* define enbale_rtc param for crosswalk

Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;

* update

Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;

* update

Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;

* update

Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;

* add enable_rtc param

Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;

* modify enable_rtc param in intersection module

Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;

* change explanation

Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;

* fix typo

Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;

* update argument name of parameter

Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;

* fix typo

Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;

---------

Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;
diff --git a/planning/behavior_velocity_blind_spot_module/config/blind_spot.param.yaml b/planning/behavior_velocity_blind_spot_module/config/blind_spot.param.yaml
@@ -8,3 +8,4 @@
       max_future_movement_time: 10.0 # [second]
       threshold_yaw_diff: 0.523 # [rad]
       adjacent_extend_width: 1.5 # [m]
+      enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/planning/behavior_velocity_blind_spot_module/src/manager.cpp b/planning/behavior_velocity_blind_spot_module/src/manager.cpp
@@ -28,7 +28,9 @@
 namespace behavior_velocity_planner
 {
 BlindSpotModuleManager::BlindSpotModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(node, getModuleName())
+: SceneModuleManagerInterfaceWithRTC(
+    node, getModuleName(),
+    node.declare_parameter<bool>(std::string(getModuleName()) + ".enable_rtc"))
 {
   const std::string ns(getModuleName());
   planner_param_.use_pass_judge_line = node.declare_parameter<bool>(ns + ".use_pass_judge_line");
diff --git a/planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml b/planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml
@@ -4,6 +4,7 @@
       common:
         show_processing_time: false # [-] whether to show processing time
         # param for input data
+        enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
         traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
 
       # param for stop position
diff --git a/planning/behavior_velocity_crosswalk_module/src/manager.cpp b/planning/behavior_velocity_crosswalk_module/src/manager.cpp
@@ -28,7 +28,9 @@ namespace behavior_velocity_planner
 using lanelet::autoware::Crosswalk;
 
 CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(node, getModuleName())
+: SceneModuleManagerInterfaceWithRTC(
+    node, getModuleName(),
+    node.declare_parameter<bool>(std::string(getModuleName()) + ".common.enable_rtc"))
 {
   const std::string ns(getModuleName());
 
diff --git a/planning/behavior_velocity_detection_area_module/config/detection_area.param.yaml b/planning/behavior_velocity_detection_area_module/config/detection_area.param.yaml
@@ -8,3 +8,4 @@
       state_clear_time: 2.0
       hold_stop_margin_distance: 0.0
       distance_to_judge_over_stop_line: 0.5
+      enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/planning/behavior_velocity_detection_area_module/src/manager.cpp b/planning/behavior_velocity_detection_area_module/src/manager.cpp
@@ -31,7 +31,9 @@ namespace behavior_velocity_planner
 using lanelet::autoware::DetectionArea;
 
 DetectionAreaModuleManager::DetectionAreaModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(node, getModuleName())
+: SceneModuleManagerInterfaceWithRTC(
+    node, getModuleName(),
+    node.declare_parameter<bool>(std::string(getModuleName()) + ".enable_rtc"))
 {
   const std::string ns(getModuleName());
   planner_param_.stop_margin = node.declare_parameter<double>(ns + ".stop_margin");
diff --git a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
@@ -48,5 +48,9 @@
         denoise_kernel: 1.0 # [m]
         pub_debug_grid: false
 
+      enable_rtc: # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
+        intersection: true
+        intersection_to_occlusion: true
+
     merge_from_private:
       stop_duration_sec: 1.0
diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp
@@ -30,8 +30,13 @@
 namespace behavior_velocity_planner
 {
 IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(node, getModuleName()),
-  occlusion_rtc_interface_(&node, "intersection_occlusion")
+: SceneModuleManagerInterfaceWithRTC(
+    node, getModuleName(),
+    node.declare_parameter<bool>(std::string(getModuleName()) + ".enable_rtc.intersection")),
+  occlusion_rtc_interface_(
+    &node, "intersection_occlusion",
+    node.declare_parameter<bool>(
+      std::string(getModuleName()) + ".enable_rtc.intersection_to_occlusion"))
 {
   const std::string ns(getModuleName());
   auto & ip = intersection_param_;
diff --git a/planning/behavior_velocity_no_stopping_area_module/config/no_stopping_area.param.yaml b/planning/behavior_velocity_no_stopping_area_module/config/no_stopping_area.param.yaml
@@ -8,3 +8,4 @@
       stop_line_margin: 1.0           # [m] margin to auto-gen stop line at no stopping area
       detection_area_length: 200.0    # [m] used to create detection area polygon
       stuck_vehicle_front_margin: 6.0 # [m] obstacle stop max distance(5.0m)
+      enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/planning/behavior_velocity_no_stopping_area_module/src/manager.cpp b/planning/behavior_velocity_no_stopping_area_module/src/manager.cpp
@@ -31,7 +31,9 @@ namespace behavior_velocity_planner
 using lanelet::autoware::NoStoppingArea;
 
 NoStoppingAreaModuleManager::NoStoppingAreaModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(node, getModuleName())
+: SceneModuleManagerInterfaceWithRTC(
+    node, getModuleName(),
+    node.declare_parameter<bool>(std::string(getModuleName()) + ".enable_rtc"))
 {
   const std::string ns(getModuleName());
   auto & pp = planner_param_;
diff --git a/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/scene_module_interface.hpp b/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/scene_module_interface.hpp
@@ -326,8 +326,9 @@ class SceneModuleManagerInterface
 class SceneModuleManagerInterfaceWithRTC : public SceneModuleManagerInterface
 {
 public:
-  SceneModuleManagerInterfaceWithRTC(rclcpp::Node & node, const char * module_name)
-  : SceneModuleManagerInterface(node, module_name), rtc_interface_(&node, module_name)
+  SceneModuleManagerInterfaceWithRTC(
+    rclcpp::Node & node, const char * module_name, const bool enable_rtc = true)
+  : SceneModuleManagerInterface(node, module_name), rtc_interface_(&node, module_name, enable_rtc)
   {
   }
 
diff --git a/planning/behavior_velocity_traffic_light_module/config/traffic_light.param.yaml b/planning/behavior_velocity_traffic_light_module/config/traffic_light.param.yaml
@@ -5,3 +5,4 @@
       tl_state_timeout: 1.0
       yellow_lamp_period: 2.75
       enable_pass_judge: true
+      enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/planning/behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_traffic_light_module/src/manager.cpp
@@ -28,7 +28,9 @@ namespace behavior_velocity_planner
 using lanelet::TrafficLight;
 
 TrafficLightModuleManager::TrafficLightModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(node, getModuleName())
+: SceneModuleManagerInterfaceWithRTC(
+    node, getModuleName(),
+    node.declare_parameter<bool>(std::string(getModuleName()) + ".enable_rtc"))
 {
   const std::string ns(getModuleName());
   planner_param_.stop_margin = node.declare_parameter<double>(ns + ".stop_margin");

Original file line number	Diff line number	Diff line change
`@@ -28,7 +28,9 @@`
`28`	`28`	`namespace behavior_velocity_planner`
`29`	`29`	`{`
`30`	`30`	`BlindSpotModuleManager::BlindSpotModuleManager(rclcpp::Node & node)`
`31`		`-: SceneModuleManagerInterfaceWithRTC(node, getModuleName())`
	`31`	`+: SceneModuleManagerInterfaceWithRTC(`
	`32`	`+ node, getModuleName(),`
	`33`	`+ node.declare_parameter<bool>(std::string(getModuleName()) + ".enable_rtc"))`
`32`	`34`	`{`
`33`	`35`	`const std::string ns(getModuleName());`
`34`	`36`	`planner_param_.use_pass_judge_line = node.declare_parameter<bool>(ns + ".use_pass_judge_line");`
Original file line number	Diff line number	Diff line change
`@@ -28,7 +28,9 @@ namespace behavior_velocity_planner`
`28`	`28`	`using lanelet::autoware::Crosswalk;`
`29`	`29`
`30`	`30`	`CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node)`
`31`		`-: SceneModuleManagerInterfaceWithRTC(node, getModuleName())`
	`31`	`+: SceneModuleManagerInterfaceWithRTC(`
	`32`	`+ node, getModuleName(),`
	`33`	`+ node.declare_parameter<bool>(std::string(getModuleName()) + ".common.enable_rtc"))`
`32`	`34`	`{`
`33`	`35`	`const std::string ns(getModuleName());`
`34`	`36`
Original file line number	Diff line number	Diff line change
`@@ -326,8 +326,9 @@ class SceneModuleManagerInterface`
`326`	`326`	`class SceneModuleManagerInterfaceWithRTC : public SceneModuleManagerInterface`
`327`	`327`	`{`
`328`	`328`	`public:`
`329`		`- SceneModuleManagerInterfaceWithRTC(rclcpp::Node & node, const char * module_name)`
`330`		`- : SceneModuleManagerInterface(node, module_name), rtc_interface_(&node, module_name)`
	`329`	`+ SceneModuleManagerInterfaceWithRTC(`
	`330`	`+ rclcpp::Node & node, const char * module_name, const bool enable_rtc = true)`
	`331`	`+ : SceneModuleManagerInterface(node, module_name), rtc_interface_(&node, module_name, enable_rtc)`
`331`	`332`	`{`
`332`	`333`	`}`
`333`	`334`