feat(merge_from_private): use separate param (autowarefoundation#4692)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
tier4 · Aug 22, 2023 · 6656849 · 6656849
1 parent 1937ce0
commit 6656849
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
@@ -45,4 +45,5 @@
         pub_debug_grid: false
 
     merge_from_private:
+      stop_line_margin: 3.0
       stop_duration_sec: 1.0
diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp
@@ -252,7 +252,7 @@ MergeFromPrivateModuleManager::MergeFromPrivateModuleManager(rclcpp::Node & node
   mp.stop_duration_sec = node.declare_parameter<double>(ns + ".stop_duration_sec");
   mp.attention_area_length =
     node.get_parameter("intersection.common.attention_area_length").as_double();
-  mp.stop_line_margin = node.get_parameter("intersection.common.stop_line_margin").as_double();
+  mp.stop_line_margin = node.declare_parameter<double>(ns + ".stop_line_margin");
   mp.path_interpolation_ds =
     node.get_parameter("intersection.common.path_interpolation_ds").as_double();
 }