refactor(behavior_path_avoidance_by_lane_change_module)!: prefix pack…

…age and namespace with autoware_ (#6638) * build(behavior_path_avoidance_by_lane_change_module): prefix package and namespace with autoware_ Signed-off-by: Esteve Fernandez <[email protected]> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <[email protected]> * build(autoware_behavior_path_avoidance_by_lane_change_module): fix namespaces Signed-off-by: Esteve Fernandez <[email protected]> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <[email protected]> * fix(autoware_behavior_path_avoidance_by_lane_change_module): fix clang-tidy issues Signed-off-by: Esteve Fernandez <[email protected]> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <[email protected]> * fix(autoware_behavior_path_avoidance_by_lane_change_module): fix tests Signed-off-by: Esteve Fernandez <[email protected]> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <[email protected]> * fix(autoware_behavior_path_avoidance_by_lane_change_module): fix clang-tidy issues Signed-off-by: Esteve Fernandez <[email protected]> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <[email protected]> * build(autoware_behavior_path_avoidance_by_lane_change_module): revert clang-tidy fixes for naming functions Signed-off-by: Esteve Fernandez <[email protected]> * build(autoware_behavior_path_avoidance_by_lane_change_module): revert clang-tidy fixes for naming functions Signed-off-by: Esteve Fernandez <[email protected]> * build(autoware_behavior_path_external_request_lane_change_module): revert performance-related clang-tidy fixes Signed-off-by: Esteve Fernandez <[email protected]> * build(autoware_behavior_path_avoidance_by_lane_change_module): revert clang-tidy fixes for naming functions Signed-off-by: Esteve Fernandez <[email protected]> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <[email protected]> * refactor(autoware_behavior_path_avoidance_by_lane_change_module): update CODEOWNERS and .pages files Signed-off-by: Esteve Fernandez <[email protected]> * refactor(autoware_behavior_path_avoidance_by_lane_change_module): move headers files to src Signed-off-by: Esteve Fernandez <[email protected]> * refactor(autoware_behavior_path_avoidance_by_lane_change_module): fix include paths Signed-off-by: Esteve Fernandez <[email protected]> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <[email protected]> * Update planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp Co-authored-by: M. Fatih Cırıt <[email protected]> Signed-off-by: Esteve Fernandez <[email protected]> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <[email protected]> * build: fix missing using clauses Signed-off-by: Esteve Fernandez <[email protected]> --------- Signed-off-by: Esteve Fernandez <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt <[email protected]>
autowarefoundation · Jun 7, 2024 · 57786a7 · 57786a7
1 parent f328a15
commit 57786a7
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Showing 19 changed files with 89 additions and 62 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -144,6 +144,7 @@ perception/traffic_light_map_based_detector/** [email protected] tao.zhong
 perception/traffic_light_multi_camera_fusion/** [email protected] [email protected]
 perception/traffic_light_occlusion_predictor/** [email protected] [email protected]
 perception/traffic_light_visualization/** [email protected] [email protected]
+planning/autoware_behavior_path_avoidance_by_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/** [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_path_external_request_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_path_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -161,7 +162,6 @@ planning/autoware_planning_topic_converter/** [email protected] satoshi.o
 planning/autoware_remaining_distance_time_calculator/** [email protected]
 planning/autoware_static_centerline_generator/** [email protected] [email protected]
 planning/autoware_velocity_smoother/** [email protected] [email protected] [email protected] [email protected]
-planning/behavior_path_avoidance_by_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_goal_planner_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]

diff --git a/planning/.pages b/planning/.pages
@@ -10,7 +10,7 @@ nav:
         - 'Dynamic Drivable Area': planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design
         - 'Turn Signal': planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design
     - 'Scene Module':
-        - 'Avoidance by Lane Change': planning/behavior_path_avoidance_by_lane_change_module
+        - 'Avoidance by Lane Change': planning/autoware_behavior_path_avoidance_by_lane_change_module
         - 'Dynamic Obstacle Avoidance': planning/autoware_behavior_path_dynamic_obstacle_avoidance_module
         - 'Goal Planner': planning/behavior_path_goal_planner_module
         - 'Lane Change': planning/behavior_path_lane_change_module

diff --git a/...ance_by_lane_change_module/CMakeLists.txt → ...ance_by_lane_change_module/CMakeLists.txt b/...ance_by_lane_change_module/CMakeLists.txt → ...ance_by_lane_change_module/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_path_avoidance_by_lane_change_module)
+project(autoware_behavior_path_avoidance_by_lane_change_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

diff --git a/...avoidance_by_lane_change_module/README.md → ...avoidance_by_lane_change_module/README.md b/...avoidance_by_lane_change_module/README.md → ...avoidance_by_lane_change_module/README.md
diff --git a/...onfig/avoidance_by_lane_change.param.yaml → ...onfig/avoidance_by_lane_change.param.yaml b/...onfig/avoidance_by_lane_change.param.yaml → ...onfig/avoidance_by_lane_change.param.yaml
diff --git a/...odule/images/avoidance_by_lane_change.svg → ...odule/images/avoidance_by_lane_change.svg b/...odule/images/avoidance_by_lane_change.svg → ...odule/images/avoidance_by_lane_change.svg
diff --git a/...dule/images/avoidance_by_lc_trigger_1.svg → ...dule/images/avoidance_by_lc_trigger_1.svg b/...dule/images/avoidance_by_lc_trigger_1.svg → ...dule/images/avoidance_by_lc_trigger_1.svg
diff --git a/...dule/images/avoidance_by_lc_trigger_2.svg → ...dule/images/avoidance_by_lc_trigger_2.svg b/...dule/images/avoidance_by_lc_trigger_2.svg → ...dule/images/avoidance_by_lc_trigger_2.svg
diff --git a/...oidance_by_lane_change_module/package.xml → ...oidance_by_lane_change_module/package.xml b/...oidance_by_lane_change_module/package.xml → ...oidance_by_lane_change_module/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>behavior_path_avoidance_by_lane_change_module</name>
+  <name>autoware_behavior_path_avoidance_by_lane_change_module</name>
   <version>0.1.0</version>
   <description>The behavior_path_avoidance_by_lane_change_module package</description>
 

diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/plugins.xml b/planning/autoware_behavior_path_avoidance_by_lane_change_module/plugins.xml
@@ -0,0 +1,3 @@
+<library path="autoware_behavior_path_avoidance_by_lane_change_module">
+  <class type="autoware::behavior_path_planner::AvoidanceByLaneChangeModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
+</library>
diff --git a/...ce_by_lane_change_module/data_structs.hpp → ...y_lane_change_module/src/data_structs.hpp b/...ce_by_lane_change_module/data_structs.hpp → ...y_lane_change_module/src/data_structs.hpp
@@ -11,13 +11,15 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_
-#define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_
+#ifndef DATA_STRUCTS_HPP_
+#define DATA_STRUCTS_HPP_
 
 #include "autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp"
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
+using ::behavior_path_planner::AvoidanceParameters;
+
 struct AvoidanceByLCParameters : public AvoidanceParameters
 {
   // execute only when the target object longitudinal distance is larger than this param.
@@ -30,6 +32,6 @@ struct AvoidanceByLCParameters : public AvoidanceParameters
   {
   }
 };
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_
+#endif  // DATA_STRUCTS_HPP_
diff --git a/...e_by_lane_change_module/src/interface.cpp → ...e_by_lane_change_module/src/interface.cpp b/...e_by_lane_change_module/src/interface.cpp → ...e_by_lane_change_module/src/interface.cpp
@@ -12,16 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_avoidance_by_lane_change_module/interface.hpp"
+#include "interface.hpp"
 
 #include "autoware_behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware_behavior_path_planner_common/interface/scene_module_visitor.hpp"
 
 #include <memory>
 #include <string>
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
+using ::behavior_path_planner::State;
+using ::route_handler::Direction;
+
 AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface(
   const std::string & name, rclcpp::Node & node,
   const std::shared_ptr<LaneChangeParameters> & parameters,
@@ -63,4 +66,4 @@ void AvoidanceByLaneChangeInterface::updateRTCStatus(
     uuid_map_.at(direction), isExecutionReady(), state, start_distance, finish_distance,
     clock_->now());
 }
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
diff --git a/...dance_by_lane_change_module/interface.hpp → ...e_by_lane_change_module/src/interface.hpp b/...dance_by_lane_change_module/interface.hpp → ...e_by_lane_change_module/src/interface.hpp
@@ -12,21 +12,25 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_
-#define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_
+#ifndef INTERFACE_HPP_
+#define INTERFACE_HPP_
 
-#include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp"
-#include "behavior_path_avoidance_by_lane_change_module/scene.hpp"
 #include "behavior_path_lane_change_module/interface.hpp"
+#include "data_structs.hpp"
+#include "scene.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
 #include <string>
 #include <unordered_map>
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
+using ::behavior_path_planner::LaneChangeInterface;
+using ::behavior_path_planner::ObjectsOfInterestMarkerInterface;
+using ::behavior_path_planner::RTCInterface;
+
 class AvoidanceByLaneChangeInterface : public LaneChangeInterface
 {
 public:
@@ -45,6 +49,6 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface
 protected:
   void updateRTCStatus(const double start_distance, const double finish_distance) override;
 };
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_
+#endif  // INTERFACE_HPP_
diff --git a/...nce_by_lane_change_module/src/manager.cpp → ...nce_by_lane_change_module/src/manager.cpp b/...nce_by_lane_change_module/src/manager.cpp → ...nce_by_lane_change_module/src/manager.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_avoidance_by_lane_change_module/manager.hpp"
+#include "manager.hpp"
 
 #include "autoware_behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp"
-#include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp"
+#include "data_structs.hpp"
 #include "tier4_autoware_utils/ros/parameter.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
 
@@ -25,8 +25,10 @@
 #include <string>
 #include <vector>
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
+using ::behavior_path_planner::getParameter;
+using ::behavior_path_planner::ObjectParameter;
 
 void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node)
 {
@@ -191,9 +193,9 @@ AvoidanceByLaneChangeModuleManager::createNewSceneModuleInstance()
     objects_of_interest_marker_interface_ptr_map_);
 }
 
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_path_planner::AvoidanceByLaneChangeModuleManager,
-  behavior_path_planner::SceneModuleManagerInterface)
+  autoware::behavior_path_planner::AvoidanceByLaneChangeModuleManager,
+  ::behavior_path_planner::SceneModuleManagerInterface)
diff --git a/...oidance_by_lane_change_module/manager.hpp → ...nce_by_lane_change_module/src/manager.hpp b/...oidance_by_lane_change_module/manager.hpp → ...nce_by_lane_change_module/src/manager.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_
-#define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_
+#ifndef MANAGER_HPP_
+#define MANAGER_HPP_
 
-#include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp"
-#include "behavior_path_avoidance_by_lane_change_module/interface.hpp"
 #include "behavior_path_lane_change_module/manager.hpp"
+#include "data_structs.hpp"
+#include "interface.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -26,9 +26,12 @@
 #include <unordered_map>
 #include <vector>
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
-using route_handler::Direction;
+using ::behavior_path_planner::LaneChangeModuleManager;
+using ::behavior_path_planner::LaneChangeModuleType;
+using ::behavior_path_planner::SceneModuleInterface;
+using ::route_handler::Direction;
 
 class AvoidanceByLaneChangeModuleManager : public LaneChangeModuleManager
 {
@@ -47,6 +50,6 @@ class AvoidanceByLaneChangeModuleManager : public LaneChangeModuleManager
 private:
   std::shared_ptr<AvoidanceByLCParameters> avoidance_parameters_;
 };
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_
+#endif  // MANAGER_HPP_
diff --git a/...dance_by_lane_change_module/src/scene.cpp → ...dance_by_lane_change_module/src/scene.cpp b/...dance_by_lane_change_module/src/scene.cpp → ...dance_by_lane_change_module/src/scene.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_avoidance_by_lane_change_module/scene.hpp"
+#include "scene.hpp"
 
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
@@ -28,13 +28,19 @@
 #include <boost/geometry/algorithms/centroid.hpp>
 #include <boost/geometry/strategies/cartesian/centroid_bashein_detmer.hpp>
 
+#include <algorithm>
 #include <limits>
 #include <optional>
 #include <utility>
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
-using behavior_path_planner::utils::lane_change::debug::createExecutionArea;
+using ::behavior_path_planner::Direction;
+using ::behavior_path_planner::LaneChangeModuleType;
+using ::behavior_path_planner::ObjectInfo;
+using ::behavior_path_planner::Point2d;
+using ::behavior_path_planner::utils::lane_change::debug::createExecutionArea;
+namespace utils = ::behavior_path_planner::utils;
 
 AvoidanceByLaneChange::AvoidanceByLaneChange(
   const std::shared_ptr<LaneChangeParameters> & parameters,
@@ -293,4 +299,4 @@ double AvoidanceByLaneChange::calcLateralOffset() const
   }
   return additional_lat_offset;
 }
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
diff --git a/...avoidance_by_lane_change_module/scene.hpp → ...dance_by_lane_change_module/src/scene.hpp b/...avoidance_by_lane_change_module/scene.hpp → ...dance_by_lane_change_module/src/scene.hpp
@@ -12,19 +12,26 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_
-#define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_
+#ifndef SCENE_HPP_
+#define SCENE_HPP_
 
 #include "autoware_behavior_path_static_obstacle_avoidance_module/helper.hpp"
-#include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp"
 #include "behavior_path_lane_change_module/scene.hpp"
+#include "data_structs.hpp"
 
 #include <memory>
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
+using ::behavior_path_planner::DebugData;
 using AvoidanceDebugData = DebugData;
-using helper::static_obstacle_avoidance::AvoidanceHelper;
+using ::behavior_path_planner::AvoidancePlanningData;
+using ::behavior_path_planner::LaneChangeParameters;
+using ::behavior_path_planner::NormalLaneChange;
+using ::behavior_path_planner::ObjectData;
+using ::behavior_path_planner::ObjectDataArray;
+using ::behavior_path_planner::PredictedObject;
+using ::behavior_path_planner::helper::static_obstacle_avoidance::AvoidanceHelper;
 
 class AvoidanceByLaneChange : public NormalLaneChange
 {
@@ -59,6 +66,6 @@ class AvoidanceByLaneChange : public NormalLaneChange
   double calcMinimumLaneChangeLength() const;
   double calcLateralOffset() const;
 };
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_
+#endif  // SCENE_HPP_
diff --git a/..._behavior_path_planner_node_interface.cpp → ..._behavior_path_planner_node_interface.cpp b/..._behavior_path_planner_node_interface.cpp → ..._behavior_path_planner_node_interface.cpp
@@ -23,7 +23,7 @@
 #include <cmath>
 #include <vector>
 
-using behavior_path_planner::BehaviorPathPlannerNode;
+using ::behavior_path_planner::BehaviorPathPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
@@ -52,26 +52,26 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
     ament_index_cpp::get_package_share_directory("behavior_path_lane_change_module");
 
   std::vector<std::string> module_names;
-  module_names.emplace_back("behavior_path_planner::AvoidanceByLaneChangeModuleManager");
+  module_names.emplace_back("autoware::behavior_path_planner::AvoidanceByLaneChangeModuleManager");
 
   std::vector<rclcpp::Parameter> params;
   params.emplace_back("launch_modules", module_names);
   node_options.parameter_overrides(params);
 
   test_utils::updateNodeOptions(
-    node_options,
-    {planning_test_utils_dir + "/config/test_common.param.yaml",
-     planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
-     behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
-     behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
-     behavior_path_planner_dir + "/config/scene_module_manager.param.yaml",
-     behavior_path_lane_change_module_dir + "/config/lane_change.param.yaml",
-     ament_index_cpp::get_package_share_directory(
-       "autoware_behavior_path_static_obstacle_avoidance_module") +
-       "/config/static_obstacle_avoidance.param.yaml",
-     ament_index_cpp::get_package_share_directory("behavior_path_avoidance_by_lane_change_module") +
-       "/config/avoidance_by_lane_change.param.yaml"});
+    node_options, {planning_test_utils_dir + "/config/test_common.param.yaml",
+                   planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
+                   planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+                   behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
+                   behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
+                   behavior_path_planner_dir + "/config/scene_module_manager.param.yaml",
+                   behavior_path_lane_change_module_dir + "/config/lane_change.param.yaml",
+                   ament_index_cpp::get_package_share_directory(
+                     "autoware_behavior_path_static_obstacle_avoidance_module") +
+                     "/config/static_obstacle_avoidance.param.yaml",
+                   ament_index_cpp::get_package_share_directory(
+                     "autoware_behavior_path_avoidance_by_lane_change_module") +
+                     "/config/avoidance_by_lane_change.param.yaml"});
 
   return std::make_shared<BehaviorPathPlannerNode>(node_options);
 }

diff --git a/planning/behavior_path_avoidance_by_lane_change_module/plugins.xml b/planning/behavior_path_avoidance_by_lane_change_module/plugins.xml