add parameter file for mvp run_out and load it at launch

Signed-off-by: Maxime CLEMENT <[email protected]>

autoware_launch/config/planning/preset/default_preset.yaml

@@ -102,6 +102,9 @@ launch:
   - arg:
       name: launch_obstacle_velocity_limiter_module
       default: "true"
+  - arg:
+      name: launch_run_out_module
+      default: "true"
 
   - arg:
       name: motion_stop_planner_type

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml

@@ -0,0 +1,19 @@
+/**:
+  ros__parameters:
+    run_out:  # module to stop or slowdown before sudden collisions with obstacles
+      objects:
+        minimum_velocity: 0.5  # [m/s] objects lower than this velocity will be ignored
+        predicted_path_min_confidence : 0.1  # when using predicted paths, ignore the ones whose confidence is lower than this value.
+        cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights
+
+      stop_on_time_buffer: 0.5   # [s] successive collision detection time required to start the stopping decision
+      stop_off_time_buffer: 1.0  # [s] successive non-collision detection time required to remove a stopping decision
+      ego_time_interval_expansion: 0.2  # [s] time to add to the ego time interval (on both the start and end times)
+      stop_distance_buffer: 1.0   # [m] longitudinal safety distance to keep between ego and the collision position
+      enable_passing_collisions: true  # If true, a collision where ego arrives first is ignored
+      passing_collisions_time_margin: 0.5  # [s] required time margin to decide a passing_collision
+
+      ego:
+        # additional margins to calculate the ego footprint
+        lateral_margin: 0.0 # [m] extra lateral margin
+        longitudinal_margin: 0.0 # [m] extra longitudinal margin

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -77,6 +77,7 @@
     <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="$(var motion_config_path)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml"/>
+    <arg name="motion_velocity_planner_run_out_param_path" value="$(var motion_config_path)/motion_velocity_planner/run_out.param.yaml"/>
     <arg
       name="motion_velocity_planner_velocity_smoother_type_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml"