feat(avoidance): add config for new framework (autowarefoundation#233)

* feat(behavior_path_planner): add config for avoidance on new framework Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_path_planner): fix priority Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_path_planner): add description of priority param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
keiota · Mar 9, 2023 · 17eed36 · 17eed36
1 parent a32de6e
commit 17eed36
Showing 1 changed file with 10 additions and 3 deletions.
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -37,16 +37,17 @@
 
     # USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE.
     # https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt
+    # NOTE: The smaller the priority number is, the higher the module priority is.
     lane_change:
       enable_module: true
       enable_simultaneous_execution: false
-      priority: 0
+      priority: 4
       max_module_size: 1
 
     pull_out:
       enable_module: true
       enable_simultaneous_execution: false
-      priority: 1
+      priority: 0
       max_module_size: 1
 
     side_shift:
@@ -58,5 +59,11 @@
     pull_over:
       enable_module: true
       enable_simultaneous_execution: false
-      priority: 2
+      priority: 1
+      max_module_size: 1
+
+    avoidance:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 3
       max_module_size: 1