feat: add motion_velocity_obstacle_stop/slow_down/cruise_module

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Jan 19, 2025 · a5eb1af · a5eb1af
1 parent e3d0c3b
commit a5eb1af
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diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -93,6 +93,15 @@ launch:
       #         none
 
   # motion velocity planner modules
+  - arg:
+      name: launch_obstacle_stop_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_slow_down_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_cruise_module
+      default: "true"
   - arg:
       name: launch_dynamic_obstacle_stop_module
       default: "true"

diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -74,6 +74,12 @@
     <arg name="obstacle_stop_planner_acc_param_path" value="$(var motion_config_path)/obstacle_stop_planner/adaptive_cruise_control.param.yaml"/>
     <arg name="obstacle_cruise_planner_param_path" value="$(var motion_config_path)/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"/>
     <arg name="motion_velocity_planner_param_path" value="$(var motion_config_path)/motion_velocity_planner/motion_velocity_planner.param.yaml"/>
+    <!-- <arg name="motion_velocity_planner_obstacle_stop_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/obstacle_stop.param.yaml"/> -->
+    <!-- <arg name="motion_velocity_planner_obstacle_slow_down_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/obstacle_slow_down.param.yaml"/> -->
+    <!-- <arg name="motion_velocity_planner_obstacle_cruise_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/obstacle_cruise.param.yaml"/> -->
+    <arg name="motion_velocity_planner_obstacle_stop_module_param_path" value="$(find-pkg-share autoware_motion_velocity_obstacle_stop_module)/config/obstacle_stop.param.yaml"/>
+    <arg name="motion_velocity_planner_obstacle_slow_down_module_param_path" value="$(find-pkg-share autoware_motion_velocity_obstacle_slow_down_module)/config/obstacle_slow_down.param.yaml"/>
+    <arg name="motion_velocity_planner_obstacle_cruise_module_param_path" value="$(find-pkg-share autoware_motion_velocity_obstacle_cruise_module)/config/obstacle_cruise.param.yaml"/>
     <arg name="motion_velocity_planner_dynamic_obstacle_stop_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml"/>
     <arg name="motion_velocity_planner_out_of_lane_module_param_path" value="$(var motion_config_path)/motion_velocity_planner/out_of_lane.param.yaml"/>
     <arg name="motion_velocity_planner_obstacle_velocity_limiter_param_path" value="$(var motion_config_path)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml"/>