feat(planning_launch): add rtc_auto_mode_manager (#433)

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
tier4 · Sep 15, 2022 · e9ba154 · e9ba154
1 parent de49ece
commit e9ba154
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Showing 3 changed files with 32 additions and 32 deletions.
diff --git a/...io_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml b/...io_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml
diff --git a/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -0,0 +1,29 @@
+/**:
+  ros__parameters:
+    module_list:
+      - "blind_spot"
+      - "crosswalk"
+      - "detection_area"
+      - "intersection"
+      - "no_stopping_area"
+      - "traffic_light"
+      - "lane_change_left"
+      - "lane_change_right"
+      - "avoidance_left"
+      - "avoidance_right"
+      - "pull_over"
+      - "pull_out"
+
+    default_enable_list:
+      - "blind_spot"
+      - "crosswalk"
+      - "detection_area"
+      - "intersection"
+      - "no_stopping_area"
+      - "traffic_light"
+      - "lane_change_left"
+      - "lane_change_right"
+      - "avoidance_left"
+      - "avoidance_right"
+      - "pull_over"
+      - "pull_out"
diff --git a/planning_launch/launch/scenario_planning/lane_driving.launch.xml b/planning_launch/launch/scenario_planning/lane_driving.launch.xml
@@ -17,9 +17,9 @@
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
-      <arg name="rtc_auto_approver_param_path" default="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver/rtc_auto_approver.param.yaml"/>
-      <include file="$(find-pkg-share rtc_auto_approver)/launch/rtc_auto_approver.launch.xml">
-        <arg name="param_path" value="$(var rtc_auto_approver_param_path)"/>
+      <arg name="rtc_auto_mode_manager_param_path" default="$(find-pkg-share planning_launch)/config/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml"/>
+      <include file="$(find-pkg-share rtc_auto_mode_manager)/launch/rtc_auto_mode_manager.launch.xml">
+        <arg name="param_path" value="$(var rtc_auto_mode_manager_param_path)"/>
       </include>
     </group>