Commit 9546fd7 1 parent 604848f commit 9546fd7 Copy full SHA for 9546fd7
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-3
lines changed
launch/tier4_planning_launch/launch
lane_driving/behavior_planning
planning/behavior_path_planner_common/include/behavior_path_planner_common/interface
5 files changed +22
-3
lines changed Original file line number Diff line number Diff line change 7
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<arg name =" freespace_planner_param_path" />
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<!-- planning validator -->
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<arg name =" planning_validator_param_path" />
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+ <!-- Auto mode setting-->
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+ <arg name =" enable_all_modules_auto_mode" />
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<group >
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<push-ros-namespace namespace =" planning" />
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<!-- scenario planning module -->
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<group >
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<push-ros-namespace namespace =" scenario_planning" />
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- <include file =" $(find-pkg-share tier4_planning_launch)/launch/scenario_planning/scenario_planning.launch.xml" />
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+ <include file =" $(find-pkg-share tier4_planning_launch)/launch/scenario_planning/scenario_planning.launch.xml" >
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+ <arg name =" enable_all_modules_auto_mode" value =" $(var enable_all_modules_auto_mode)" />
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+ </include >
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</group >
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<!-- planning validator -->
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<launch >
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+ <arg name =" enable_all_modules_auto_mode" />
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+
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<!-- lane_driving scenario -->
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<group >
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<push-ros-namespace namespace =" lane_driving" />
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<group >
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<include file =" $(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml" >
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<arg name =" container_type" value =" component_container_mt" />
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+ <arg name =" enable_all_modules_auto_mode" value =" $(var enable_all_modules_auto_mode)" />
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<!-- This condition should be true if run_out module is enabled and its detection method is Points -->
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<arg name =" launch_compare_map_pipeline" value =" false" />
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</include >
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<arg name =" input_virtual_traffic_light_topic_name" default =" /awapi/tmp/virtual_traffic_light_states" />
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<arg name =" input_vector_map_topic_name" default =" /map/vector_map" />
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<arg name =" input_pointcloud_map_topic_name" default =" /map/pointcloud_map" />
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+ <arg name =" enable_all_modules_auto_mode" />
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<arg name =" launch_avoidance_module" default =" true" />
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<arg name =" launch_avoidance_by_lane_change_module" default =" true" />
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<param from =" $(var vehicle_param_file)" />
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<param from =" $(var nearest_search_param_path)" />
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<param name =" launch_modules" value =" $(var behavior_path_planner_launch_modules)" />
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+ <param name =" enable_all_modules_auto_mode" value =" $(var enable_all_modules_auto_mode)" />
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<param from =" $(var behavior_path_planner_side_shift_module_param_path)" />
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<param from =" $(var behavior_path_planner_avoidance_module_param_path)" />
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<param from =" $(var behavior_path_planner_avoidance_by_lc_module_param_path)" />
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<launch >
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+ <arg name =" enable_all_modules_auto_mode" />
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<!-- scenario selector -->
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<group >
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<include file =" $(find-pkg-share scenario_selector)/launch/scenario_selector.launch.xml" >
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<group >
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<!-- lane driving -->
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<group >
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- <include file =" $(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving.launch.xml" />
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+ <include file =" $(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving.launch.xml" >
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+ <arg name =" enable_all_modules_auto_mode" value =" $(var enable_all_modules_auto_mode)" />
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+ </include >
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</group >
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<!-- parking -->
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<group >
Original file line number Diff line number Diff line change @@ -261,7 +261,14 @@ class SceneModuleManagerInterface
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// init manager configuration
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{
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std::string ns = name_ + " ." ;
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- config_.enable_rtc = getOrDeclareParameter<bool >(*node, ns + " enable_rtc" );
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+ try {
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+ config_.enable_rtc = getOrDeclareParameter<bool >(*node, " enable_all_modules_auto_mode" )
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+ ? false
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+ : getOrDeclareParameter<bool >(*node, ns + " enable_rtc" );
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+ } catch (const std::exception & e) {
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+ config_.enable_rtc = getOrDeclareParameter<bool >(*node, ns + " enable_rtc" );
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+ }
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+
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config_.enable_simultaneous_execution_as_approved_module =
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getOrDeclareParameter<bool >(*node, ns + " enable_simultaneous_execution_as_approved_module" );
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config_.enable_simultaneous_execution_as_candidate_module = getOrDeclareParameter<bool >(
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