refactor(autoware_launch): add walkway param yaml (autowarefoundation…

…#458) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
keiota · Jul 19, 2023 · ec2d65e · ec2d65e
1 parent 5939b17
commit ec2d65e
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Showing 3 changed files with 6 additions and 4 deletions.
diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -39,7 +39,3 @@
         bicycle: true # [-] whether to look and stop by BICYCLE objects
         motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.)
         pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects
-
-    walkway:
-      stop_duration_sec: 1.0 # [s] stop time at stop position
-      stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
diff --git a/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml b/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    walkway:
+      stop_duration_sec: 1.0 # [s] stop time at stop position
+      stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -50,6 +50,7 @@
       name="behavior_velocity_planner_module_param_paths"
       value="[$(var behavior_velocity_config_path)/blind_spot.param.yaml,
               $(var behavior_velocity_config_path)/crosswalk.param.yaml,
+              $(var behavior_velocity_config_path)/walkway.param.yaml,
               $(var behavior_velocity_config_path)/detection_area.param.yaml,
               $(var behavior_velocity_config_path)/intersection.param.yaml,
               $(var behavior_velocity_config_path)/stop_line.param.yaml,