refactor(autoware_behavior_velocity_planner_common,autoware_behavior_…

…velocity_planner): separate param files (#1254) Signed-off-by: Y.Hisaki <[email protected]>
autowarefoundation · Nov 27, 2024 · 44afd91 · 44afd91
1 parent e14b2c8
commit 44afd91
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -4,8 +4,3 @@
     backward_path_length: 5.0
     behavior_output_path_interval: 1.0
     stop_line_extend_length: 5.0
-    max_accel: -2.8
-    max_jerk: -5.0
-    system_delay: 0.5
-    delay_response_time: 0.5
-    is_publish_debug_path: false # publish all debug path with lane id in each module
diff --git a/...g/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml b/...g/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    max_accel: -2.8
+    max_jerk: -5.0
+    system_delay: 0.5
+    delay_response_time: 0.5
+    is_publish_debug_path: false # publish all debug path with lane id in each module
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -44,7 +44,8 @@
     <!-- behavior velocity planner -->
     <arg name="behavior_velocity_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"/>
     <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml"/>
-    <arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
+    <arg name="behavior_velocity_planner_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
+    <arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner_common.param.yaml"/>
     <arg name="behavior_velocity_planner_blind_spot_module_param_path" value="$(var behavior_velocity_config_path)/blind_spot.param.yaml"/>
     <arg name="behavior_velocity_planner_crosswalk_module_param_path" value="$(var behavior_velocity_config_path)/crosswalk.param.yaml"/>
     <arg name="behavior_velocity_planner_walkway_module_param_path" value="$(var behavior_velocity_config_path)/walkway.param.yaml"/>