Add enable_all_modules_auto_mode argument to launch files for behavio…

…r_velocity_modules Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
kyoichi-sugahara · Jan 16, 2024 · da2e7f1 · da2e7f1
1 parent bffafcd
commit da2e7f1
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Showing 7 changed files with 16 additions and 8 deletions.
diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -237,6 +237,7 @@
       <param from="$(var behavior_velocity_smoother_type_param_path)"/>
       <param from="$(var behavior_velocity_planner_common_param_path)"/>
       <param name="launch_modules" value="$(var behavior_velocity_planner_launch_modules)"/>
+      <param name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
       <!-- <param from="$(var template_param_path)"/> -->
       <param from="$(var behavior_velocity_planner_blind_spot_module_param_path)"/>
       <param from="$(var behavior_velocity_planner_crosswalk_module_param_path)"/>

diff --git a/planning/behavior_velocity_blind_spot_module/src/manager.cpp b/planning/behavior_velocity_blind_spot_module/src/manager.cpp
@@ -33,7 +33,8 @@ using tier4_autoware_utils::getOrDeclareParameter;
 BlindSpotModuleManager::BlindSpotModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
     node, getModuleName(),
-    getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".enable_rtc"))
+    (!getOrDeclareParameter<bool>(node, "enable_all_modules_auto_mode") &&
+     getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".enable_rtc")))
 {
   const std::string ns(getModuleName());
   planner_param_.use_pass_judge_line =

diff --git a/planning/behavior_velocity_crosswalk_module/src/manager.cpp b/planning/behavior_velocity_crosswalk_module/src/manager.cpp
@@ -32,7 +32,8 @@ using tier4_autoware_utils::getOrDeclareParameter;
 CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
     node, getModuleName(),
-    getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".common.enable_rtc"))
+    (!getOrDeclareParameter<bool>(node, "enable_all_modules_auto_mode") &&
+     getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".common.enable_rtc")))
 {
   const std::string ns(getModuleName());
 

diff --git a/planning/behavior_velocity_detection_area_module/src/manager.cpp b/planning/behavior_velocity_detection_area_module/src/manager.cpp
@@ -36,7 +36,8 @@ using tier4_autoware_utils::getOrDeclareParameter;
 DetectionAreaModuleManager::DetectionAreaModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
     node, getModuleName(),
-    getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".enable_rtc"))
+    (!getOrDeclareParameter<bool>(node, "enable_all_modules_auto_mode") &&
+     getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".enable_rtc")))
 {
   const std::string ns(getModuleName());
   planner_param_.stop_margin = getOrDeclareParameter<double>(node, ns + ".stop_margin");

diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp
@@ -35,11 +35,13 @@ using tier4_autoware_utils::getOrDeclareParameter;
 IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
     node, getModuleName(),
-    getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".enable_rtc.intersection")),
+    (!getOrDeclareParameter<bool>(node, "enable_all_modules_auto_mode") &&
+     getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".enable_rtc.intersection"))),
   occlusion_rtc_interface_(
     &node, "intersection_occlusion",
-    getOrDeclareParameter<bool>(
-      node, std::string(getModuleName()) + ".enable_rtc.intersection_to_occlusion"))
+    (!getOrDeclareParameter<bool>(node, "enable_all_modules_auto_mode") &&
+     getOrDeclareParameter<bool>(
+       node, 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/src/manager.cpp b/planning/behavior_velocity_no_stopping_area_module/src/manager.cpp
@@ -36,7 +36,8 @@ using tier4_autoware_utils::getOrDeclareParameter;
 NoStoppingAreaModuleManager::NoStoppingAreaModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
     node, getModuleName(),
-    getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".enable_rtc"))
+    (!getOrDeclareParameter<bool>(node, "enable_all_modules_auto_mode") &&
+     getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".enable_rtc")))
 {
   const std::string ns(getModuleName());
   auto & pp = planner_param_;

diff --git a/planning/behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_traffic_light_module/src/manager.cpp
@@ -32,7 +32,8 @@ using tier4_autoware_utils::getOrDeclareParameter;
 TrafficLightModuleManager::TrafficLightModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
     node, getModuleName(),
-    getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".enable_rtc"))
+    (!getOrDeclareParameter<bool>(node, "enable_all_modules_auto_mode") &&
+     getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".enable_rtc")))
 {
   const std::string ns(getModuleName());
   planner_param_.stop_margin = getOrDeclareParameter<double>(node, ns + ".stop_margin");