Change params to set the ignore vel threshold for each label

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Author: maxime-clem

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml

@@ -81,6 +81,8 @@
         occupied_min: 58    # [-] minimum value of an occupied cell in the occupancy grid
         ignore_with_traffic_light: true  # [-] if true, occlusions at crosswalks with traffic lights are ignored
         ignore_behind_predicted_objects: true  # [-] if true, occlusions behind predicted objects are ignored
-        do_not_ignore_behind_pedestrians: true  # [-] if true, occlusions behind pedestrians are not ignored
-        ignore_velocity_threshold: 0.5  # [m/s] minimum velocity for a predicted object to be ignored
+        ignore_velocity_thresholds:
+          default: 0.5  # [m/s] occlusions are only ignored behind objects with a higher or equal velocity
+          custom_labels: ["PEDESTRIAN"]  # labels for which to define a non-default velocity threshold (see autoware_auto_perception_msgs::msg::ObjectClassification for all the labels)
+          custom_thresholds: [0.0]  # velocities of the custom labels
         extra_predicted_objects_size: 0.5  # [m] extra size added to the objects for masking the occlusions