refactor(behavior_velocity_stop_line_module): clean stop line module (a…

…utowarefoundation#4394) Signed-off-by: yutaka <[email protected]>
tier4 · Jul 26, 2023 · e181dce · e181dce
1 parent ffd2a4b
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Showing 5 changed files with 12 additions and 11 deletions.
diff --git a/planning/behavior_velocity_stop_line_module/README.md b/planning/behavior_velocity_stop_line_module/README.md
@@ -12,11 +12,13 @@ This module is activated when there is a stop line in a target lane.
 
 ### Module Parameters
 
-| Parameter                   | Type   | Description                                                                                    |
-| --------------------------- | ------ | ---------------------------------------------------------------------------------------------- |
-| `stop_margin`               | double | a margin that the vehicle tries to stop before stop_line                                       |
-| `stop_check_dist`           | double | when the vehicle is within `stop_check_dist` from stop_line and stopped, move to STOPPED state |
-| `hold_stop_margin_distance` | double | [m] parameter for restart prevention (See Algorithm section)                                   |
+| Parameter                        | Type   | Description                                                                                                                                                                       |
+| -------------------------------- | ------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| `stop_margin`                    | double | a margin that the vehicle tries to stop before stop_line                                                                                                                          |
+| `stop_duration_sec`              | double | [s] time parameter for the ego vehicle to stop in front of a stop line                                                                                                            |
+| `hold_stop_margin_distance`      | double | [m] parameter for restart prevention (See Algorithm section). Also, when the ego vehicle is within this distance from a stop line, the ego state becomes STOPPED from APPROACHING |
+| `use_initialization_stop_state`  | bool   | A flag to determine whether to return to the approaching state when the vehicle moves away from a stop line.                                                                      |
+| `show_stop_line_collision_check` | bool   | A flag to determine whether to show the debug information of collision check with a stop line                                                                                     |
 
 ### Inner-workings / Algorithms
 

diff --git a/planning/behavior_velocity_stop_line_module/config/stop_line.param.yaml b/planning/behavior_velocity_stop_line_module/config/stop_line.param.yaml
@@ -2,10 +2,9 @@
   ros__parameters:
     stop_line:
       stop_margin: 0.0
-      stop_check_dist: 2.0
       stop_duration_sec: 1.0
       use_initialization_stop_line_state: true
       hold_stop_margin_distance: 2.0
 
       debug:
-        show_stopline_collision_check: false            # [-] whether to show stopline collision
+        show_stop_line_collision_check: false            # [-] whether to show stopline collision
diff --git a/planning/behavior_velocity_stop_line_module/src/debug.cpp b/planning/behavior_velocity_stop_line_module/src/debug.cpp
@@ -87,7 +87,7 @@ visualization_msgs::msg::MarkerArray createStopLineCollisionCheck(
 visualization_msgs::msg::MarkerArray StopLineModule::createDebugMarkerArray()
 {
   visualization_msgs::msg::MarkerArray debug_marker_array;
-  if (planner_param_.show_stopline_collision_check) {
+  if (planner_param_.show_stop_line_collision_check) {
     appendMarkerArray(
       createStopLineCollisionCheck(debug_data_, module_id_), &debug_marker_array,
       this->clock_->now());

diff --git a/planning/behavior_velocity_stop_line_module/src/manager.cpp b/planning/behavior_velocity_stop_line_module/src/manager.cpp
@@ -34,8 +34,8 @@ StopLineModuleManager::StopLineModuleManager(rclcpp::Node & node)
   p.use_initialization_stop_line_state =
     node.declare_parameter<bool>(ns + ".use_initialization_stop_line_state");
   // debug
-  p.show_stopline_collision_check =
-    node.declare_parameter<bool>(ns + ".debug.show_stopline_collision_check");
+  p.show_stop_line_collision_check =
+    node.declare_parameter<bool>(ns + ".debug.show_stop_line_collision_check");
 }
 
 std::vector<StopLineWithLaneId> StopLineModuleManager::getStopLinesWithLaneIdOnPath(

diff --git a/planning/behavior_velocity_stop_line_module/src/scene.hpp b/planning/behavior_velocity_stop_line_module/src/scene.hpp
@@ -74,7 +74,7 @@ class StopLineModule : public SceneModuleInterface
     double stop_duration_sec;
     double hold_stop_margin_distance;
     bool use_initialization_stop_line_state;
-    bool show_stopline_collision_check;
+    bool show_stop_line_collision_check;
   };
 
 public: