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zulfaqar-azmi-t4zulfaqar-azmi-t4
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follow old transition
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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‎launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

+36-37
Original file line numberDiff line numberDiff line change
@@ -180,44 +180,43 @@
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/>
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<let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>
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<node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args="" output="screen">
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<composable_node pkg="behavior_path_planner" plugin="behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">
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<!-- topic remap -->
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<remap from="~/input/route" to="$(var input_route_topic_name)"/>
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<remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
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<remap from="~/input/perception" to="/perception/object_recognition/objects"/>
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<remap from="~/input/occupancy_grid_map" to="/perception/occupancy_grid_map/map"/>
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<remap from="~/input/costmap" to="/planning/scenario_planning/parking/costmap_generator/occupancy_grid"/>
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<remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
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<remap from="~/input/odometry" to="/localization/kinematic_state"/>
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<remap from="~/input/accel" to="/localization/acceleration"/>
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<remap from="~/input/scenario" to="/planning/scenario_planning/scenario"/>
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<remap from="~/output/path" to="path_with_lane_id"/>
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<remap from="~/output/turn_indicators_cmd" to="/planning/turn_indicators_cmd"/>
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<remap from="~/output/hazard_lights_cmd" to="/planning/behavior_path_planner/hazard_lights_cmd"/>
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<remap from="~/output/modified_goal" to="/planning/scenario_planning/modified_goal"/>
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<remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
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<!-- params -->
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<param from="$(var common_param_path)"/>
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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 name="is_simulation" value="$(var is_simulation)"/>
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<param from="$(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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<param from="$(var behavior_path_planner_dynamic_avoidance_module_param_path)"/>
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<param from="$(var behavior_path_planner_lane_change_module_param_path)"/>
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<param from="$(var behavior_path_planner_goal_planner_module_param_path)"/>
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<param from="$(var behavior_path_planner_start_planner_module_param_path)"/>
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<param from="$(var behavior_path_planner_drivable_area_expansion_param_path)"/>
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<param from="$(var behavior_path_planner_scene_module_manager_param_path)"/>
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<param from="$(var behavior_path_planner_common_param_path)"/>
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<!-- composable node config -->
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<extra_arg name="use_intra_process_comms" value="false"/>
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</composable_node>
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<node pkg="behavior_path_planner" exec="behavior_path_planner_node" name="behavior_path_planner" namespace="" launch-prefix="xterm -l -lf /home/zulfaqar/develop/aw.txt -e gdb -ex run --args">
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<!-- topic remap -->
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<remap from="~/input/route" to="$(var input_route_topic_name)"/>
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<remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
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<remap from="~/input/perception" to="/perception/object_recognition/objects"/>
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<remap from="~/input/occupancy_grid_map" to="/perception/occupancy_grid_map/map"/>
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<remap from="~/input/costmap" to="/planning/scenario_planning/parking/costmap_generator/occupancy_grid"/>
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<remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
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<remap from="~/input/odometry" to="/localization/kinematic_state"/>
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<remap from="~/input/accel" to="/localization/acceleration"/>
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<remap from="~/input/scenario" to="/planning/scenario_planning/scenario"/>
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<remap from="~/output/path" to="path_with_lane_id"/>
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<remap from="~/output/turn_indicators_cmd" to="/planning/turn_indicators_cmd"/>
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<remap from="~/output/hazard_lights_cmd" to="/planning/behavior_path_planner/hazard_lights_cmd"/>
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<remap from="~/output/modified_goal" to="/planning/scenario_planning/modified_goal"/>
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<remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
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<!-- params -->
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<param from="$(var common_param_path)"/>
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<param from="$(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="$(var enable_all_modules_auto_mode)"/>
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<param name="is_simulation" value="$(var is_simulation)"/>
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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="$(var behavior_path_planner_avoidance_by_lc_module_param_path)"/>
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<param from="$(var behavior_path_planner_dynamic_avoidance_module_param_path)"/>
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<param from="$(var behavior_path_planner_lane_change_module_param_path)"/>
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<param from="$(var behavior_path_planner_goal_planner_module_param_path)"/>
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<param from="$(var behavior_path_planner_start_planner_module_param_path)"/>
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<param from="$(var behavior_path_planner_drivable_area_expansion_param_path)"/>
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<param from="$(var behavior_path_planner_scene_module_manager_param_path)"/>
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<param from="$(var behavior_path_planner_common_param_path)"/>
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<!-- composable node config -->
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</node>
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<node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args="" output="screen">
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<composable_node pkg="behavior_velocity_planner" plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
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<!-- topic remap -->
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<remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>

‎planning/behavior_path_lane_change_module/src/interface.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -146,7 +146,7 @@ ModuleStatus LaneChangeInterface::updateState()
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if (!module_type_->isAbleToReturnCurrentLane()) {
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log_warn_throttled("Lane change path is unsafe but cannot return. Continue lane change.");
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change_state_if_stop_required();
149-
return within_turn_direction_lane ? ModuleStatus::FAILURE : ModuleStatus::RUNNING;
149+
return within_turn_direction_lane ? ModuleStatus::SUCCESS : ModuleStatus::RUNNING;
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}
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const auto threshold = module_type_->getLaneChangeParam().backward_length_buffer_for_end_of_lane;

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