Revert "deactivate other behavior velocity module"

This reverts commit 0085075.
maxime-clem · Oct 5, 2023 · 80b0609 · 80b0609
1 parent 01d65e8
commit 80b0609
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Showing 2 changed files with 25 additions and 25 deletions.
diff --git a/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -9,18 +9,18 @@
     delay_response_time: 0.5
     is_publish_debug_path: false # publish all debug path with lane id in each module
     launch_modules:
-      # - behavior_velocity_planner::CrosswalkModulePlugin
-      # - behavior_velocity_planner::WalkwayModulePlugin
-      # - behavior_velocity_planner::TrafficLightModulePlugin
-      # - behavior_velocity_planner::IntersectionModulePlugin      # Intersection module should be before merge from private to declare intersection parameters.
-      # - behavior_velocity_planner::MergeFromPrivateModulePlugin
-      # - behavior_velocity_planner::BlindSpotModulePlugin
-      # - behavior_velocity_planner::DetectionAreaModulePlugin
-      # # behavior_velocity_planner::VirtualTrafficLightModulePlugin
-      # - behavior_velocity_planner::NoStoppingAreaModulePlugin     # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom.
-      # - behavior_velocity_planner::StopLineModulePlugin           # Permanent stop line module should be after no stopping area
+      - behavior_velocity_planner::CrosswalkModulePlugin
+      - behavior_velocity_planner::WalkwayModulePlugin
+      - behavior_velocity_planner::TrafficLightModulePlugin
+      - behavior_velocity_planner::IntersectionModulePlugin      # Intersection module should be before merge from private to declare intersection parameters.
+      - behavior_velocity_planner::MergeFromPrivateModulePlugin
+      - behavior_velocity_planner::BlindSpotModulePlugin
+      - behavior_velocity_planner::DetectionAreaModulePlugin
+      # behavior_velocity_planner::VirtualTrafficLightModulePlugin
+      - behavior_velocity_planner::NoStoppingAreaModulePlugin     # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom.
+      - behavior_velocity_planner::StopLineModulePlugin           # Permanent stop line module should be after no stopping area
       # behavior_velocity_planner::OcclusionSpotModulePlugin
-      # - behavior_velocity_planner::RunOutModulePlugin
+      - behavior_velocity_planner::RunOutModulePlugin
       # behavior_velocity_planner::SpeedBumpModulePlugin
       - behavior_velocity_planner::OutOfLaneModulePlugin
       # behavior_velocity_planner::NoDrivableLaneModulePlugin
diff --git a/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -1,12 +1,12 @@
 /**:
   ros__parameters:
     module_list:
-      # - "blind_spot"
-      # - "crosswalk"
-      # - "detection_area"
-      # - "intersection"
-      # - "no_stopping_area"
-      # - "traffic_light"
+      - "blind_spot"
+      - "crosswalk"
+      - "detection_area"
+      - "intersection"
+      - "no_stopping_area"
+      - "traffic_light"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"
@@ -15,15 +15,15 @@
       # - "avoidance_by_lane_change_right"
       - "goal_planner"
       - "start_planner"
-      # - "intersection_occlusion"
+      - "intersection_occlusion"
 
     default_enable_list:
-      # - "blind_spot"
-      # - "crosswalk"
-      # - "detection_area"
-      # - "intersection"
-      # - "no_stopping_area"
-      # - "traffic_light"
+      - "blind_spot"
+      - "crosswalk"
+      - "detection_area"
+      - "intersection"
+      - "no_stopping_area"
+      - "traffic_light"
       - "lane_change_left"
       - "lane_change_right"
       # - "avoidance_left"
@@ -32,4 +32,4 @@
       # - "avoidance_by_lane_change_right"
       - "goal_planner"
       - "start_planner"
-      # - "intersection_occlusion"
+      - "intersection_occlusion"