refactor(behavior_velocity_planner): load all module parameters (#389)

load all module parameters Signed-off-by: Takagi, Isamu <[email protected]>
autowarefoundation · Jun 7, 2023 · 4fb3a4c · 4fb3a4c
1 parent c6108a2
commit 4fb3a4c
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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
@@ -23,3 +23,4 @@
       # behavior_velocity_planner::RunOutModulePlugin
       # behavior_velocity_planner::SpeedBumpModulePlugin
       - behavior_velocity_planner::OutOfLaneModulePlugin
+      # behavior_velocity_planner::NoDrivableLaneModulePlugin
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -55,8 +55,13 @@
               $(var behavior_velocity_config_path)/intersection.param.yaml,
               $(var behavior_velocity_config_path)/stop_line.param.yaml,
               $(var behavior_velocity_config_path)/traffic_light.param.yaml,
+              $(var behavior_velocity_config_path)/virtual_traffic_light.param.yaml,
+              $(var behavior_velocity_config_path)/occlusion_spot.param.yaml,
               $(var behavior_velocity_config_path)/no_stopping_area.param.yaml,
-              $(var behavior_velocity_config_path)/out_of_lane.param.yaml]"
+              $(var behavior_velocity_config_path)/run_out.param.yaml,
+              $(var behavior_velocity_config_path)/speed_bump.param.yaml,
+              $(var behavior_velocity_config_path)/out_of_lane.param.yaml,
+              $(var behavior_velocity_config_path)/no_drivable_lane.param.yaml]"
     />
 
     <!-- parking -->