add object_types_to_check_for_path_generation

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Author: kyoichi-sugahara

planning/behavior_path_start_planner_module/config/start_planner.param.yaml

@@ -8,6 +8,15 @@
       collision_check_margins: [2.0, 1.0, 0.5, 0.1]
       collision_check_margin_from_front_object: 5.0
       th_moving_object_velocity: 1.0
+      object_types_to_check_for_path_generation:
+        check_car: true
+        check_truck: true
+        check_bus: true
+        check_trailer: true
+        check_bicycle: true
+        check_motorcycle: true
+        check_pedestrian: true
+        check_unknown: true
       th_distance_to_middle_of_the_road: 0.5
       center_line_path_interval: 1.0
       # shift pull out

planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/data_structs.hpp

@@ -67,6 +67,8 @@ struct StartPlannerParameters
   std::vector<double> collision_check_margins{};
   double collision_check_margin_from_front_object{0.0};
   double th_moving_object_velocity{0.0};
+  behavior_path_planner::utils::path_safety_checker::ObjectTypesToCheck
+    object_types_to_check_for_path_generation{};
   double center_line_path_interval{0.0};
 
   // shift pull out

planning/behavior_path_start_planner_module/src/manager.cpp

@@ -49,6 +49,22 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
   p.collision_check_margin_from_front_object =
     node->declare_parameter<double>(ns + "collision_check_margin_from_front_object");
   p.th_moving_object_velocity = node->declare_parameter<double>(ns + "th_moving_object_velocity");
+  p.object_types_to_check_for_path_generation.check_car =
+    node->declare_parameter<bool>(ns + "check_car");
+  p.object_types_to_check_for_path_generation.check_truck =
+    node->declare_parameter<bool>(ns + "check_truck");
+  p.object_types_to_check_for_path_generation.check_bus =
+    node->declare_parameter<bool>(ns + "check_bus");
+  p.object_types_to_check_for_path_generation.check_trailer =
+    node->declare_parameter<bool>(ns + "check_trailer");
+  p.object_types_to_check_for_path_generation.check_unknown =
+    node->declare_parameter<bool>(ns + "check_unknown");
+  p.object_types_to_check_for_path_generation.check_bicycle =
+    node->declare_parameter<bool>(ns + "check_bicycle");
+  p.object_types_to_check_for_path_generation.check_motorcycle =
+    node->declare_parameter<bool>(ns + "check_motorcycle");
+  p.object_types_to_check_for_path_generation.check_pedestrian =
+    node->declare_parameter<bool>(ns + "check_pedestrian");
   p.center_line_path_interval = node->declare_parameter<double>(ns + "center_line_path_interval");
   // shift pull out
   p.enable_shift_pull_out = node->declare_parameter<bool>(ns + "enable_shift_pull_out");

planning/behavior_path_start_planner_module/src/start_planner_module.cpp

@@ -683,9 +683,11 @@ bool StartPlannerModule::findPullOutPath(
   // extract stop objects in pull out lane for collision check
   const auto stop_objects = utils::path_safety_checker::filterObjectsByVelocity(
     *dynamic_objects, parameters_->th_moving_object_velocity);
-  const auto [pull_out_lane_stop_objects, others] =
+  auto [pull_out_lane_stop_objects, others] =
     utils::path_safety_checker::separateObjectsByLanelets(
       stop_objects, pull_out_lanes, utils::path_safety_checker::isPolygonOverlapLanelet);
+  utils::path_safety_checker::filterObjectsByClass(
+    pull_out_lane_stop_objects, parameters_->object_types_to_check_for_path_generation);
 
   // if start_pose_candidate is far from refined_start_pose, backward driving is necessary
   const bool backward_is_unnecessary =
@@ -1051,6 +1053,9 @@ PredictedObjects StartPlannerModule::filterStopObjectsInPullOutLanes(
     stop_objects_in_pull_out_lanes, path.points, current_point, object_check_forward_distance,
     object_check_backward_distance);
 
+  utils::path_safety_checker::filterObjectsByClass(
+    stop_objects_in_pull_out_lanes, parameters_->object_types_to_check_for_path_generation);
+
   return stop_objects_in_pull_out_lanes;
 }