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feat(autoware_launch): move dynamic_avoidance last #593

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merged 1 commit into from
Sep 26, 2023
Merged

feat(autoware_launch): move dynamic_avoidance last #593

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16 changes: 8 additions & 8 deletions ...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 7
priority: 6
max_module_size: 1

external_request_lane_change_right:
Expand All @@ -18,7 +18,7 @@
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 7
priority: 6
max_module_size: 1

lane_change_left:
Expand All @@ -27,7 +27,7 @@
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
priority: 5
max_module_size: 1

lane_change_right:
Expand All @@ -36,7 +36,7 @@
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
priority: 5
max_module_size: 1

start_planner:
Expand Down Expand Up @@ -72,7 +72,7 @@
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 5
priority: 4
max_module_size: 1

avoidance_by_lc:
Expand All @@ -81,14 +81,14 @@
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 4
priority: 3
max_module_size: 1

dynamic_avoidance:
enable_module: false
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 3
keep_last: true
priority: 7
max_module_size: 1
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