refactor(behavior_velocity_planner): output path's interval can be de…

…signated by yaml (autowarefoundation#6023) Signed-off-by: Takayuki Murooka <[email protected]>
Interplai · May 26, 2024 · f9ec5ce · f9ec5ce
1 parent 8f17bda
commit f9ec5ce
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Showing 4 changed files with 6 additions and 3 deletions.
diff --git a/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml b/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml
@@ -2,6 +2,7 @@
   ros__parameters:
     forward_path_length: 1000.0
     backward_path_length: 5.0
+    behavior_output_path_interval: 1.0
     stop_line_extend_length: 5.0
     max_accel: -2.8
     max_jerk: -5.0

diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
@@ -138,6 +138,7 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
   // Parameters
   forward_path_length_ = declare_parameter<double>("forward_path_length");
   backward_path_length_ = declare_parameter<double>("backward_path_length");
+  behavior_output_path_interval_ = declare_parameter<double>("behavior_output_path_interval");
   planner_data_.stop_line_extend_length = declare_parameter<double>("stop_line_extend_length");
 
   // nearest search
@@ -409,7 +410,8 @@ autoware_auto_planning_msgs::msg::Path BehaviorVelocityPlannerNode::generatePath
   const auto filtered_path = filterLitterPathPoint(to_path(velocity_planned_path));
 
   // interpolation
-  const auto interpolated_path_msg = interpolatePath(filtered_path, forward_path_length_);
+  const auto interpolated_path_msg =
+    interpolatePath(filtered_path, forward_path_length_, behavior_output_path_interval_);
 
   // check stop point
   output_path_msg = filterStopPathPoint(interpolated_path_msg);

diff --git a/planning/behavior_velocity_planner/src/node.hpp b/planning/behavior_velocity_planner/src/node.hpp
@@ -102,6 +102,7 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
   //  parameter
   double forward_path_length_;
   double backward_path_length_;
+  double behavior_output_path_interval_;
 
   // member
   PlannerData planner_data_;

diff --git a/..._planner_common/include/behavior_velocity_planner_common/utilization/path_utilization.hpp b/..._planner_common/include/behavior_velocity_planner_common/utilization/path_utilization.hpp
@@ -28,8 +28,7 @@ bool splineInterpolate(
   const autoware_auto_planning_msgs::msg::PathWithLaneId & input, const double interval,
   autoware_auto_planning_msgs::msg::PathWithLaneId & output, const rclcpp::Logger logger);
 autoware_auto_planning_msgs::msg::Path interpolatePath(
-  const autoware_auto_planning_msgs::msg::Path & path, const double length,
-  const double interval = 1.0);
+  const autoware_auto_planning_msgs::msg::Path & path, const double length, const double interval);
 autoware_auto_planning_msgs::msg::Path filterLitterPathPoint(
   const autoware_auto_planning_msgs::msg::Path & path);
 autoware_auto_planning_msgs::msg::Path filterStopPathPoint(