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feat(autoware_planning_factor_interface): modify multiple plugins under behavior_velocity_planner folder, autoware_planning_factor_interface, : v0.5
Signed-off-by: liuXinGangChina <lxg19892021@gmail.com>
1 parent f5efec8 commit 2da0bf4

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17 files changed

+58
-52
lines changed

17 files changed

+58
-52
lines changed

‎planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,7 @@
3232
<depend>rclcpp</depend>
3333
<depend>tf2</depend>
3434
<depend>tier4_planning_msgs</depend>
35+
<depend>autoware_internal_planning_msgs</depend>
3536
<depend>visualization_msgs</depend>
3637

3738
<test_depend>ament_cmake_ros</test_depend>

‎planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -103,7 +103,7 @@ void BlindSpotModule::reactRTCApprovalByDecision(
103103
const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose;
104104
planning_factor_interface_->add(
105105
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
106-
tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{},
106+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
107107
true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/,
108108
"blind_spot(module is judging as UNSAFE)");
109109
}
@@ -137,7 +137,7 @@ void BlindSpotModule::reactRTCApprovalByDecision(
137137
const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose;
138138
planning_factor_interface_->add(
139139
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
140-
tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{},
140+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
141141
true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/,
142142
"blind_spot(module is judging as SAFE and RTC is not approved)");
143143
}

‎planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -45,6 +45,7 @@
4545
<depend>rclcpp</depend>
4646
<depend>sensor_msgs</depend>
4747
<depend>visualization_msgs</depend>
48+
<depend>autoware_internal_planning_msgs</depend>
4849

4950
<test_depend>ament_cmake_ros</test_depend>
5051
<test_depend>ament_lint_auto</test_depend>

‎planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp

+4-4
Original file line numberDiff line numberDiff line change
@@ -882,8 +882,8 @@ void CrosswalkModule::applySlowDown(
882882
if (slowdown_pose)
883883
planning_factor_interface_->add(
884884
output.points, planner_data_->current_odometry->pose, *slowdown_pose, *slowdown_pose,
885-
tier4_planning_msgs::msg::PlanningFactor::SLOW_DOWN,
886-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/,
885+
autoware_internal_planning_msgs::msg::PlanningFactor::SLOW_DOWN,
886+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/,
887887
safety_slow_down_speed, 0.0 /*shift distance*/, "crosswalk_safety_slowdown_for_approaching");
888888
}
889889

@@ -1365,8 +1365,8 @@ void CrosswalkModule::planStop(
13651365
insertDecelPointWithDebugInfo(stop_factor->stop_pose.position, 0.0, ego_path);
13661366
planning_factor_interface_->add(
13671367
ego_path.points, planner_data_->current_odometry->pose, stop_factor->stop_pose,
1368-
stop_factor->stop_pose, tier4_planning_msgs::msg::PlanningFactor::STOP,
1369-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0 /*velocity*/,
1368+
stop_factor->stop_pose, autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
1369+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0 /*velocity*/,
13701370
0.0 /*shift distance*/, "crosswalk_stop");
13711371
}
13721372

‎planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -182,7 +182,7 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path)
182182
{
183183
planning_factor_interface_->add(
184184
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
185-
tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{},
185+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
186186
true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "");
187187
}
188188

‎planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -41,6 +41,7 @@
4141
<depend>rclcpp</depend>
4242
<depend>tf2_geometry_msgs</depend>
4343
<depend>tier4_planning_msgs</depend>
44+
<depend>autoware_internal_planning_msgs</depend>
4445
<depend>visualization_msgs</depend>
4546

4647
<test_depend>ament_cmake_ros</test_depend>

‎planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp

+34-34
Original file line numberDiff line numberDiff line change
@@ -765,8 +765,8 @@ void reactRTCApprovalByDecisionResult(
765765
planning_factor_interface->add(
766766
path->points, path->points.at(closest_idx).point.pose,
767767
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
768-
tier4_planning_msgs::msg::PlanningFactor::STOP,
769-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
768+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
769+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
770770
0.0 /*shift distance*/, "intersection(pure StuckStop)");
771771
}
772772
}
@@ -780,8 +780,8 @@ void reactRTCApprovalByDecisionResult(
780780
path->points, path->points.at(closest_idx).point.pose,
781781
path->points.at(occlusion_stopline_idx).point.pose,
782782
path->points.at(occlusion_stopline_idx).point.pose,
783-
tier4_planning_msgs::msg::PlanningFactor::STOP,
784-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
783+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
784+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
785785
0.0 /*shift distance*/, "intersection(StuckStop with occlusion)");
786786
}
787787
}
@@ -812,8 +812,8 @@ void reactRTCApprovalByDecisionResult(
812812
planning_factor_interface->add(
813813
path->points, path->points.at(closest_idx).point.pose,
814814
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
815-
tier4_planning_msgs::msg::PlanningFactor::STOP,
816-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
815+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
816+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
817817
0.0 /*shift distance*/, "intersection(Yield Stuck)");
818818
}
819819
}
@@ -842,8 +842,8 @@ void reactRTCApprovalByDecisionResult(
842842
planning_factor_interface->add(
843843
path->points, path->points.at(decision_result.closest_idx).point.pose,
844844
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
845-
tier4_planning_msgs::msg::PlanningFactor::STOP,
846-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
845+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
846+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
847847
0.0 /*shift distance*/, "intersection(CollisionStop)");
848848
}
849849
}
@@ -856,8 +856,8 @@ void reactRTCApprovalByDecisionResult(
856856
planning_factor_interface->add(
857857
path->points, path->points.at(decision_result.closest_idx).point.pose,
858858
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
859-
tier4_planning_msgs::msg::PlanningFactor::STOP,
860-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
859+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
860+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
861861
0.0 /*shift distance*/, "intersection(CollisionStop with occlusion)");
862862
}
863863
}
@@ -886,8 +886,8 @@ void reactRTCApprovalByDecisionResult(
886886
planning_factor_interface->add(
887887
path->points, path->points.at(decision_result.closest_idx).point.pose,
888888
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
889-
tier4_planning_msgs::msg::PlanningFactor::STOP,
890-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
889+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
890+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
891891
0.0 /*shift distance*/, "intersection(FirstWaitBeforeOcclusion with collision)");
892892
}
893893
}
@@ -908,8 +908,8 @@ void reactRTCApprovalByDecisionResult(
908908
planning_factor_interface->add(
909909
path->points, path->points.at(decision_result.closest_idx).point.pose,
910910
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
911-
tier4_planning_msgs::msg::PlanningFactor::STOP,
912-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
911+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
912+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
913913
0.0 /*shift distance*/, "intersection(FirstWaitBeforeOcclusion with occlusion)");
914914
}
915915
}
@@ -952,8 +952,8 @@ void reactRTCApprovalByDecisionResult(
952952
path->points, path->points.at(decision_result.closest_idx).point.pose,
953953
path->points.at(occlusion_peeking_stopline).point.pose,
954954
path->points.at(occlusion_peeking_stopline).point.pose,
955-
tier4_planning_msgs::msg::PlanningFactor::STOP,
956-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
955+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
956+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
957957
0.0 /*shift distance*/, "intersection(PeekingToOcclusion)");
958958
}
959959
}
@@ -966,8 +966,8 @@ void reactRTCApprovalByDecisionResult(
966966
planning_factor_interface->add(
967967
path->points, path->points.at(decision_result.closest_idx).point.pose,
968968
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
969-
tier4_planning_msgs::msg::PlanningFactor::STOP,
970-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
969+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
970+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
971971
0.0 /*shift distance*/, "intersection(PeekingToOcclusion while stopping for collision)");
972972
}
973973
}
@@ -996,8 +996,8 @@ void reactRTCApprovalByDecisionResult(
996996
planning_factor_interface->add(
997997
path->points, path->points.at(decision_result.closest_idx).point.pose,
998998
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
999-
tier4_planning_msgs::msg::PlanningFactor::STOP,
1000-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
999+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
1000+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
10011001
0.0 /*shift distance*/, "intersection(CollisionStop with occlusion)");
10021002
}
10031003
}
@@ -1014,8 +1014,8 @@ void reactRTCApprovalByDecisionResult(
10141014
planning_factor_interface->add(
10151015
path->points, path->points.at(decision_result.closest_idx).point.pose,
10161016
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
1017-
tier4_planning_msgs::msg::PlanningFactor::STOP,
1018-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
1017+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
1018+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
10191019
0.0 /*shift distance*/, "intersection(CollisionStop with occlusion)");
10201020
}
10211021
}
@@ -1044,8 +1044,8 @@ void reactRTCApprovalByDecisionResult(
10441044
planning_factor_interface->add(
10451045
path->points, path->points.at(decision_result.closest_idx).point.pose,
10461046
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
1047-
tier4_planning_msgs::msg::PlanningFactor::STOP,
1048-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
1047+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
1048+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
10491049
0.0 /*shift distance*/,
10501050
"intersection(Occlusion without traffic light, collision detected)");
10511051
}
@@ -1059,8 +1059,8 @@ void reactRTCApprovalByDecisionResult(
10591059
planning_factor_interface->add(
10601060
path->points, path->points.at(decision_result.closest_idx).point.pose,
10611061
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
1062-
tier4_planning_msgs::msg::PlanningFactor::STOP,
1063-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
1062+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
1063+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
10641064
0.0 /*shift distance*/, "intersection(Occlusion without traffic light)");
10651065
}
10661066
}
@@ -1097,8 +1097,8 @@ void reactRTCApprovalByDecisionResult(
10971097
planning_factor_interface->add(
10981098
path->points, path->points.at(decision_result.closest_idx).point.pose,
10991099
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
1100-
tier4_planning_msgs::msg::PlanningFactor::STOP,
1101-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
1100+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
1101+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
11021102
0.0 /*shift distance*/, "intersection(Safe, but RTC interrupted for collision)");
11031103
}
11041104
}
@@ -1111,8 +1111,8 @@ void reactRTCApprovalByDecisionResult(
11111111
planning_factor_interface->add(
11121112
path->points, path->points.at(decision_result.closest_idx).point.pose,
11131113
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
1114-
tier4_planning_msgs::msg::PlanningFactor::STOP,
1115-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
1114+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
1115+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
11161116
0.0 /*shift distance*/, "intersection(Safe, but RTC interrupted for occlusion)");
11171117
}
11181118
}
@@ -1141,8 +1141,8 @@ void reactRTCApprovalByDecisionResult(
11411141
planning_factor_interface->add(
11421142
path->points, path->points.at(decision_result.closest_idx).point.pose,
11431143
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
1144-
tier4_planning_msgs::msg::PlanningFactor::STOP,
1145-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
1144+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
1145+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
11461146
0.0 /*shift distance*/, "intersection(FullyPrioritized, collision detected)");
11471147
}
11481148
}
@@ -1155,8 +1155,8 @@ void reactRTCApprovalByDecisionResult(
11551155
planning_factor_interface->add(
11561156
path->points, path->points.at(decision_result.closest_idx).point.pose,
11571157
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
1158-
tier4_planning_msgs::msg::PlanningFactor::STOP,
1159-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
1158+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
1159+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
11601160
0.0 /*shift distance*/,
11611161
"intersection(FullyPrioritized, RTC for occlusion is interrupting)");
11621162
}

‎planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -158,7 +158,7 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path)
158158
const auto & stop_pose = path->points.at(stopline_idx).point.pose;
159159
planning_factor_interface_->add(
160160
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
161-
tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{},
161+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
162162
true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "merge_from_private");
163163

164164
const double signed_arc_dist_to_stop_point = autoware::motion_utils::calcSignedArcLength(

‎planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp

+3-3
Original file line numberDiff line numberDiff line change
@@ -168,7 +168,7 @@ void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path)
168168
const auto & stop_pose = op_stop_pose.value();
169169
planning_factor_interface_->add(
170170
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
171-
tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{},
171+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
172172
true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "");
173173

174174
const auto virtual_wall_pose = autoware::motion_utils::calcLongitudinalOffsetPose(
@@ -218,7 +218,7 @@ void NoDrivableLaneModule::handle_inside_no_drivable_lane_state(PathWithLaneId *
218218
const auto & stop_pose = autoware_utils::get_pose(path->points.at(0));
219219
planning_factor_interface_->add(
220220
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
221-
tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{},
221+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
222222
true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "");
223223

224224
const auto & virtual_wall_pose = autoware::motion_utils::calcLongitudinalOffsetPose(
@@ -258,7 +258,7 @@ void NoDrivableLaneModule::handle_stopped_state(PathWithLaneId * path)
258258
const auto & stop_pose = ego_pos_on_path.pose;
259259
planning_factor_interface_->add(
260260
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
261-
tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{},
261+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
262262
true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "");
263263

264264
const auto virtual_wall_pose = autoware::motion_utils::calcLongitudinalOffsetPose(

‎planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,7 @@
3232
<depend>pluginlib</depend>
3333
<depend>rclcpp</depend>
3434
<depend>tier4_planning_msgs</depend>
35+
<depend>autoware_internal_planning_msgs</depend>
3536
<depend>visualization_msgs</depend>
3637

3738
<test_depend>ament_cmake_ros</test_depend>

‎planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -146,8 +146,8 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path)
146146
{
147147
planning_factor_interface_->add(
148148
path->points, planner_data_->current_odometry->pose, stop_point->second, stop_point->second,
149-
tier4_planning_msgs::msg::PlanningFactor::STOP,
150-
tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
149+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
150+
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
151151
0.0 /*shift distance*/, "");
152152
}
153153

‎planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -68,7 +68,7 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path)
6868
planning_factor_interface_->add(
6969
path->points, trajectory->compute(*stop_point).point.pose,
7070
planner_data_->current_odometry->pose, planner_data_->current_odometry->pose,
71-
tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{},
71+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
7272
true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "stopline");
7373

7474
updateStateAndStoppedTime(

‎planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -37,6 +37,7 @@
3737
<depend>tf2_eigen</depend>
3838
<depend>tf2_geometry_msgs</depend>
3939
<depend>tier4_planning_msgs</depend>
40+
<depend>autoware_internal_planning_msgs</depend>
4041
<depend>visualization_msgs</depend>
4142

4243
<test_depend>ament_cmake_ros</test_depend>

‎planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -297,7 +297,7 @@ autoware_internal_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertS
297297
planning_factor_interface_->add(
298298
modified_path.points, planner_data_->current_odometry->pose,
299299
target_point_with_lane_id.point.pose, target_point_with_lane_id.point.pose,
300-
tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{},
300+
autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
301301
true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "");
302302

303303
return modified_path;

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