feat(autoware_launch): dynamic obstacle avoidance (#299)

* add param

Signed-off-by: Takayuki Murooka <[email protected]>

* update launch

Signed-off-by: Takayuki Murooka <[email protected]>

* update for dynamic avoidance

Signed-off-by: Takayuki Murooka <[email protected]>

* update

Signed-off-by: Takayuki Murooka <[email protected]>

* update

Signed-off-by: Takayuki Murooka <[email protected]>

* disable dynamic avoidance module

Signed-off-by: Takayuki Murooka <[email protected]>

* pre-commit

Signed-off-by: Takayuki Murooka <[email protected]>

---------

Signed-off-by: Takayuki Murooka <[email protected]>

Author: takayuki5168

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml

@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+    dynamic_avoidance:
+      # avoidance is performed for the object type with true
+      target_object:
+        car: true
+        truck: true
+        bus: true
+        trailer: true
+        unknown: false
+        bicycle: false
+        motorcycle: true
+        pedestrian: false
+
+        min_obstacle_vel: 1.0 # [m/s]
+
+      drivable_area_generation:
+        lat_offset_from_obstacle: 0.8 # [m]
+        time_to_avoid: 5.0 # [s]
+        max_lat_offset_to_avoid: 0.5 # [m]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml

@@ -66,3 +66,10 @@
       enable_simultaneous_execution_as_candidate_module: false
       priority: 3
       max_module_size: 1
+
+    dynamic_avoidance:
+      enable_module: false
+      enable_simultaneous_execution_as_approved_module: true
+      enable_simultaneous_execution_as_candidate_module: true
+      priority: 7
+      max_module_size: 1

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -37,6 +37,10 @@
       name="avoidance_by_lc_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml"
     />
+    <arg
+      name="dynamic_avoidance_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml"
+    />
     <arg
       name="lane_change_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml"