feat(lane_change): support param for new framework (include external …

…lc) (autowarefoundation#248) * feat(lane_change): support param for new framework (include external lc) Signed-off-by: Muhammad Zulfaqar <[email protected]> * rename external lane change Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
keiota · Mar 13, 2023 · dba73df · dba73df
1 parent 55aaf40
commit dba73df
Showing 1 changed file with 19 additions and 1 deletion.
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -40,7 +40,25 @@
     # USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE.
     # https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt
     # NOTE: The smaller the priority number is, the higher the module priority is.
-    lane_change:
+    ext_request_lane_change_left:
+      enable_module: true
+      enable_simultaneous_execution: true
+      priority: 6
+      max_module_size: 1
+
+    ext_request_lane_change_right:
+      enable_module: true
+      enable_simultaneous_execution: true
+      priority: 6
+      max_module_size: 1
+
+    lane_change_left:
+      enable_module: true
+      enable_simultaneous_execution: false
+      priority: 5
+      max_module_size: 1
+
+    lane_change_right:
       enable_module: true
       enable_simultaneous_execution: false
       priority: 4