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Merge pull request #1453 from tier4/fix/interpreter/assign-route-action
Fix/interpreter/assign route action
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test_runner/scenario_test_runner/scenario/RoutingAction.AssignRouteAction.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,195 @@ | ||
| ScenarioModifiers: | ||
| ScenarioModifier: [] | ||
| OpenSCENARIO: | ||
| FileHeader: | ||
| revMajor: 1 | ||
| revMinor: 1 | ||
| date: '2024-11-15T02:21:26.404Z' | ||
| description: '' | ||
| author: Tatsuya Yamasaki | ||
| ParameterDeclarations: | ||
| ParameterDeclaration: [] | ||
| CatalogLocations: | ||
| VehicleCatalog: | ||
| Directory: | ||
| path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle | ||
| RoadNetwork: | ||
| LogicFile: | ||
| filepath: $(ros2 pkg prefix --share kashiwanoha_map)/map | ||
| Entities: | ||
| ScenarioObject: | ||
| - name: ego | ||
| CatalogReference: | ||
| catalogName: sample_vehicle | ||
| entryName: sample_vehicle | ||
| ObjectController: | ||
| Controller: | ||
| name: 'Autoware' | ||
| Properties: | ||
| Property: [] | ||
| Storyboard: | ||
| Init: | ||
| Actions: | ||
| Private: | ||
| - entityRef: ego | ||
| PrivateAction: | ||
| - TeleportAction: | ||
| Position: &INITIAL_POSITION | ||
| LanePosition: | ||
| roadId: '' | ||
| laneId: '34513' | ||
| s: 5 | ||
| Orientation: &DEFAULT_ORIENTATION | ||
| type: relative | ||
| h: 0 | ||
| p: 0 | ||
| r: 0 | ||
| - RoutingAction: | ||
| AcquirePositionAction: | ||
| Position: &STANDBY_POSITION | ||
| LanePosition: | ||
| roadId: '' | ||
| laneId: '34513' | ||
| s: 30 | ||
| Orientation: *DEFAULT_ORIENTATION | ||
| Story: | ||
| - name: '' | ||
| Act: | ||
| - name: act_reroute | ||
| ManeuverGroup: | ||
| - maximumExecutionCount: 1 | ||
| name: act_reroute | ||
| Actors: | ||
| selectTriggeringEntities: false | ||
| EntityRef: | ||
| - entityRef: ego | ||
| Maneuver: | ||
| - name: '' | ||
| Event: | ||
| - name: reroute | ||
| priority: parallel | ||
| Action: | ||
| - name: '' | ||
| PrivateAction: | ||
| RoutingAction: | ||
| AssignRouteAction: | ||
| Route: | ||
| name: '' | ||
| closed: false | ||
| Waypoint: | ||
| - Position: &CHECK_POINT_0 | ||
| LanePosition: | ||
| roadId: '' | ||
| laneId: '34606' | ||
| s: 15 | ||
| Orientation: *DEFAULT_ORIENTATION | ||
| routeStrategy: shortest | ||
| - Position: &CHECK_POINT_1 | ||
| LanePosition: | ||
| roadId: '' | ||
| laneId: '34600' | ||
| s: 30 | ||
| Orientation: *DEFAULT_ORIENTATION | ||
| routeStrategy: shortest | ||
| - Position: &CHECK_POINT_2 | ||
| LanePosition: | ||
| roadId: '' | ||
| laneId: '34630' | ||
| s: 13 | ||
| Orientation: *DEFAULT_ORIENTATION | ||
| routeStrategy: shortest | ||
| - Position: &DESTINATION | ||
| LanePosition: | ||
| roadId: '' | ||
| laneId: '34741' | ||
| s: 25 | ||
| Orientation: *DEFAULT_ORIENTATION | ||
| routeStrategy: shortest | ||
| StartTrigger: | ||
| ConditionGroup: | ||
| - Condition: | ||
| - name: '' | ||
| delay: 0 | ||
| conditionEdge: none | ||
| ByValueCondition: | ||
| UserDefinedValueCondition: | ||
| value: WAITING_FOR_ROUTE | ||
| name: ego.currentState | ||
| rule: equalTo | ||
| StartTrigger: | ||
| ConditionGroup: | ||
| - Condition: | ||
| - name: '' | ||
| delay: 0 | ||
| conditionEdge: none | ||
| ByEntityCondition: | ||
| TriggeringEntities: | ||
| triggeringEntitiesRule: any | ||
| EntityRef: | ||
| - entityRef: ego | ||
| EntityCondition: | ||
| ReachPositionCondition: | ||
| Position: *STANDBY_POSITION | ||
| tolerance: 1 | ||
| - name: _EndCondition | ||
| ManeuverGroup: | ||
| - maximumExecutionCount: 1 | ||
| name: '' | ||
| Actors: | ||
| selectTriggeringEntities: false | ||
| EntityRef: | ||
| - entityRef: ego | ||
| Maneuver: | ||
| - name: '' | ||
| Event: | ||
| - name: '' | ||
| priority: parallel | ||
| StartTrigger: | ||
| ConditionGroup: | ||
| - Condition: | ||
| - name: '' | ||
| delay: 0 | ||
| conditionEdge: none | ||
| ByEntityCondition: | ||
| TriggeringEntities: | ||
| triggeringEntitiesRule: any | ||
| EntityRef: | ||
| - entityRef: ego | ||
| EntityCondition: | ||
| ReachPositionCondition: | ||
| Position: *DESTINATION | ||
| tolerance: 1 | ||
| Action: | ||
| - name: '' | ||
| UserDefinedAction: | ||
| CustomCommandAction: | ||
| type: exitSuccess | ||
| - name: '' | ||
| priority: parallel | ||
| StartTrigger: | ||
| ConditionGroup: | ||
| - Condition: | ||
| - name: '' | ||
| delay: 0 | ||
| conditionEdge: none | ||
| ByValueCondition: | ||
| SimulationTimeCondition: | ||
| value: 180 | ||
| rule: greaterThan | ||
| Action: | ||
| - name: '' | ||
| UserDefinedAction: | ||
| CustomCommandAction: | ||
| type: exitFailure | ||
| StartTrigger: | ||
| ConditionGroup: | ||
| - Condition: | ||
| - name: '' | ||
| delay: 0 | ||
| conditionEdge: none | ||
| ByValueCondition: | ||
| SimulationTimeCondition: | ||
| value: 0 | ||
| rule: greaterThan | ||
| StopTrigger: | ||
| ConditionGroup: [] |