refactor(behavior_velocity_planner_common): add behavior_velocity_rtc…

…_interface and move RTC-related implementation (autowarefoundation#9799) * split into planer_common and rtc_interface Signed-off-by: Takayuki Murooka <[email protected]> * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue <[email protected]> * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp Co-authored-by: Mamoru Sobue <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]>
kyoichi-sugahara · Jan 6, 2025 · ebe9ffe · ebe9ffe
1 parent 76cbad7
commit ebe9ffe
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Showing 47 changed files with 562 additions and 381 deletions.
diff --git a/...locity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/manager.hpp b/...locity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/manager.hpp
@@ -19,7 +19,7 @@
 
 #include <autoware/behavior_velocity_planner_common/plugin_interface.hpp>
 #include <autoware/behavior_velocity_planner_common/plugin_wrapper.hpp>
-#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
+#include <autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
@@ -42,8 +42,8 @@ class BlindSpotModuleManager : public SceneModuleManagerInterfaceWithRTC
 
   void launchNewModules(const tier4_planning_msgs::msg::PathWithLaneId & path) override;
 
-  std::function<bool(const std::shared_ptr<SceneModuleInterface> &)> getModuleExpiredFunction(
-    const tier4_planning_msgs::msg::PathWithLaneId & path) override;
+  std::function<bool(const std::shared_ptr<SceneModuleInterfaceWithRTC> &)>
+  getModuleExpiredFunction(const tier4_planning_msgs::msg::PathWithLaneId & path) override;
 };
 
 class BlindSpotModulePlugin : public PluginWrapper<BlindSpotModuleManager>

diff --git a/...velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp b/...velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp
@@ -16,8 +16,8 @@
 #define AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__SCENE_HPP_
 
 #include <autoware/behavior_velocity_blind_spot_module/util.hpp>
-#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/state_machine.hpp>
+#include <autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
@@ -59,7 +59,7 @@ struct Safe
 
 using BlindSpotDecision = std::variant<InternalError, OverPassJudge, Unsafe, Safe>;
 
-class BlindSpotModule : public SceneModuleInterface
+class BlindSpotModule : public SceneModuleInterfaceWithRTC
 {
 public:
   struct DebugData

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_behavior_velocity_planner_common</depend>
+  <depend>autoware_behavior_velocity_rtc_interface</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>

diff --git a/...ng/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp b/...ng/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp
@@ -83,7 +83,7 @@ void BlindSpotModuleManager::launchNewModules(const tier4_planning_msgs::msg::Pa
   }
 }
 
-std::function<bool(const std::shared_ptr<SceneModuleInterface> &)>
+std::function<bool(const std::shared_ptr<SceneModuleInterfaceWithRTC> &)>
 BlindSpotModuleManager::getModuleExpiredFunction(
   const tier4_planning_msgs::msg::PathWithLaneId & path)
 {

diff --git a/...ning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp b/...ning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp
@@ -41,7 +41,7 @@ BlindSpotModule::BlindSpotModule(
   const int64_t module_id, const int64_t lane_id, const TurnDirection turn_direction,
   const std::shared_ptr<const PlannerData> planner_data, const PlannerParam & planner_param,
   const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+: SceneModuleInterfaceWithRTC(module_id, logger, clock),
   lane_id_(lane_id),
   planner_param_{planner_param},
   turn_direction_(turn_direction),

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
@@ -22,6 +22,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_velocity_planner_common</depend>
+  <depend>autoware_behavior_velocity_rtc_interface</depend>
   <depend>autoware_grid_map_utils</depend>
   <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>

diff --git a/...ing/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp b/...ing/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp
@@ -216,7 +216,7 @@ void CrosswalkModuleManager::launchNewModules(const PathWithLaneId & path)
   }
 }
 
-std::function<bool(const std::shared_ptr<SceneModuleInterface> &)>
+std::function<bool(const std::shared_ptr<SceneModuleInterfaceWithRTC> &)>
 CrosswalkModuleManager::getModuleExpiredFunction(const PathWithLaneId & path)
 {
   const auto rh = planner_data_->route_handler_;
@@ -233,7 +233,7 @@ CrosswalkModuleManager::getModuleExpiredFunction(const PathWithLaneId & path)
     crosswalk_id_set.insert(crosswalk.first->crosswalkLanelet().id());
   }
 
-  return [crosswalk_id_set](const std::shared_ptr<SceneModuleInterface> & scene_module) {
+  return [crosswalk_id_set](const std::shared_ptr<SceneModuleInterfaceWithRTC> & scene_module) {
     return crosswalk_id_set.count(scene_module->getModuleId()) == 0;
   };
 }

diff --git a/...ing/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.hpp b/...ing/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.hpp
@@ -19,7 +19,7 @@
 
 #include <autoware/behavior_velocity_planner_common/plugin_interface.hpp>
 #include <autoware/behavior_velocity_planner_common/plugin_wrapper.hpp>
-#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
+#include <autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp>
 #include <autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -48,8 +48,8 @@ class CrosswalkModuleManager : public SceneModuleManagerInterfaceWithRTC
 
   void launchNewModules(const PathWithLaneId & path) override;
 
-  std::function<bool(const std::shared_ptr<SceneModuleInterface> &)> getModuleExpiredFunction(
-    const PathWithLaneId & path) override;
+  std::function<bool(const std::shared_ptr<SceneModuleInterfaceWithRTC> &)>
+  getModuleExpiredFunction(const PathWithLaneId & path) override;
 };
 
 class CrosswalkModulePlugin : public PluginWrapper<CrosswalkModuleManager>

diff --git a/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -176,7 +176,7 @@ CrosswalkModule::CrosswalkModule(
   const std::optional<int64_t> & reg_elem_id, const lanelet::LaneletMapPtr & lanelet_map_ptr,
   const PlannerParam & planner_param, const rclcpp::Logger & logger,
   const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+: SceneModuleInterfaceWithRTC(module_id, logger, clock),
   module_id_(module_id),
   planner_param_(planner_param),
   use_regulatory_element_(reg_elem_id)

diff --git a/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
@@ -17,7 +17,7 @@
 
 #include "autoware/behavior_velocity_crosswalk_module/util.hpp"
 
-#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
+#include <autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
 #include <autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp>
@@ -112,7 +112,7 @@ double InterpolateMap(
 }
 }  // namespace
 
-class CrosswalkModule : public SceneModuleInterface
+class CrosswalkModule : public SceneModuleInterfaceWithRTC
 {
 public:
   struct PlannerParam

diff --git a/...ng/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml b/...ng/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_velocity_planner_common</depend>
+  <depend>autoware_behavior_velocity_rtc_interface</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>

diff --git a/...ehavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp b/...ehavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp
@@ -74,16 +74,17 @@ void DetectionAreaModuleManager::launchNewModules(
   }
 }
 
-std::function<bool(const std::shared_ptr<SceneModuleInterface> &)>
+std::function<bool(const std::shared_ptr<SceneModuleInterfaceWithRTC> &)>
 DetectionAreaModuleManager::getModuleExpiredFunction(
   const tier4_planning_msgs::msg::PathWithLaneId & path)
 {
   const auto detection_area_id_set = planning_utils::getRegElemIdSetOnPath<DetectionArea>(
     path, planner_data_->route_handler_->getLaneletMapPtr(), planner_data_->current_odometry->pose);
 
-  return [detection_area_id_set](const std::shared_ptr<SceneModuleInterface> & scene_module) {
-    return detection_area_id_set.count(scene_module->getModuleId()) == 0;
-  };
+  return
+    [detection_area_id_set](const std::shared_ptr<SceneModuleInterfaceWithRTC> & scene_module) {
+      return detection_area_id_set.count(scene_module->getModuleId()) == 0;
+    };
 }
 
 }  // namespace autoware::behavior_velocity_planner

diff --git a/...ehavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.hpp b/...ehavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.hpp
@@ -19,7 +19,7 @@
 
 #include <autoware/behavior_velocity_planner_common/plugin_interface.hpp>
 #include <autoware/behavior_velocity_planner_common/plugin_wrapper.hpp>
-#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
+#include <autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
@@ -41,8 +41,8 @@ class DetectionAreaModuleManager : public SceneModuleManagerInterfaceWithRTC
 
   void launchNewModules(const tier4_planning_msgs::msg::PathWithLaneId & path) override;
 
-  std::function<bool(const std::shared_ptr<SceneModuleInterface> &)> getModuleExpiredFunction(
-    const tier4_planning_msgs::msg::PathWithLaneId & path) override;
+  std::function<bool(const std::shared_ptr<SceneModuleInterfaceWithRTC> &)>
+  getModuleExpiredFunction(const tier4_planning_msgs::msg::PathWithLaneId & path) override;
 };
 
 class DetectionAreaModulePlugin : public PluginWrapper<DetectionAreaModuleManager>

diff --git a/.../behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/.../behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp
@@ -37,7 +37,7 @@ DetectionAreaModule::DetectionAreaModule(
   const lanelet::autoware::DetectionArea & detection_area_reg_elem,
   const PlannerParam & planner_param, const rclcpp::Logger & logger,
   const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+: SceneModuleInterfaceWithRTC(module_id, logger, clock),
   lane_id_(lane_id),
   detection_area_reg_elem_(detection_area_reg_elem),
   state_(State::GO),

diff --git a/.../behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp b/.../behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp
@@ -23,8 +23,8 @@
 
 #define EIGEN_MPL2_ONLY
 #include <Eigen/Core>
-#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>
+#include <autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp>
 #include <autoware_lanelet2_extension/regulatory_elements/detection_area.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -38,7 +38,7 @@ using PathIndexWithPoint2d = std::pair<size_t, Point2d>;                // front
 using PathIndexWithOffset = std::pair<size_t, double>;                  // front index, offset
 using tier4_planning_msgs::msg::PathWithLaneId;
 
-class DetectionAreaModule : public SceneModuleInterface
+class DetectionAreaModule : public SceneModuleInterfaceWithRTC
 {
 public:
   enum class State { GO, STOP };

diff --git a/...ning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/...ning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
@@ -20,6 +20,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_behavior_velocity_planner_common</depend>
+  <depend>autoware_behavior_velocity_rtc_interface</depend>
   <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_lanelet2_extension</depend>

diff --git a/.../behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp b/.../behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp
@@ -353,14 +353,14 @@ void IntersectionModuleManager::launchNewModules(
   }
 }
 
-std::function<bool(const std::shared_ptr<SceneModuleInterface> &)>
+std::function<bool(const std::shared_ptr<SceneModuleInterfaceWithRTC> &)>
 IntersectionModuleManager::getModuleExpiredFunction(
   const tier4_planning_msgs::msg::PathWithLaneId & path)
 {
   const auto lane_set = planning_utils::getLaneletsOnPath(
     path, planner_data_->route_handler_->getLaneletMapPtr(), planner_data_->current_odometry->pose);
 
-  return [lane_set](const std::shared_ptr<SceneModuleInterface> & scene_module) {
+  return [lane_set](const std::shared_ptr<SceneModuleInterfaceWithRTC> & scene_module) {
     const auto intersection_module = std::dynamic_pointer_cast<IntersectionModule>(scene_module);
     const auto & associative_ids = intersection_module->getAssociativeIds();
     for (const auto & lane : lane_set) {

diff --git a/.../behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.hpp b/.../behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.hpp
@@ -21,6 +21,7 @@
 #include <autoware/behavior_velocity_planner_common/plugin_interface.hpp>
 #include <autoware/behavior_velocity_planner_common/plugin_wrapper.hpp>
 #include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
+#include <autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <std_msgs/msg/string.hpp>
@@ -47,8 +48,8 @@ class IntersectionModuleManager : public SceneModuleManagerInterfaceWithRTC
 
   void launchNewModules(const tier4_planning_msgs::msg::PathWithLaneId & path) override;
 
-  std::function<bool(const std::shared_ptr<SceneModuleInterface> &)> getModuleExpiredFunction(
-    const tier4_planning_msgs::msg::PathWithLaneId & path) override;
+  std::function<bool(const std::shared_ptr<SceneModuleInterfaceWithRTC> &)>
+  getModuleExpiredFunction(const tier4_planning_msgs::msg::PathWithLaneId & path) override;
 
   bool hasSameParentLaneletAndTurnDirectionWithRegistered(const lanelet::ConstLanelet & lane) const;
 
@@ -63,7 +64,7 @@ class IntersectionModuleManager : public SceneModuleManagerInterfaceWithRTC
     tl_observation_pub_;
 };
 
-class MergeFromPrivateModuleManager : public SceneModuleManagerInterface
+class MergeFromPrivateModuleManager : public SceneModuleManagerInterface<>
 {
 public:
   explicit MergeFromPrivateModuleManager(rclcpp::Node & node);

diff --git a/...elocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/...elocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -53,7 +53,7 @@ IntersectionModule::IntersectionModule(
   const PlannerParam & planner_param, const std::set<lanelet::Id> & associative_ids,
   const std::string & turn_direction, const bool has_traffic_light, rclcpp::Node & node,
   const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+: SceneModuleInterfaceWithRTC(module_id, logger, clock),
   planner_param_(planner_param),
   lane_id_(lane_id),
   associative_ids_(associative_ids),

diff --git a/...elocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp b/...elocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp
@@ -22,8 +22,8 @@
 #include "object_manager.hpp"
 #include "result.hpp"
 
-#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/state_machine.hpp>
+#include <autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp>
 #include <autoware/motion_utils/marker/virtual_wall_marker_creator.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -46,7 +46,7 @@
 namespace autoware::behavior_velocity_planner
 {
 
-class IntersectionModule : public SceneModuleInterface
+class IntersectionModule : public SceneModuleInterfaceWithRTC
 {
 public:
   struct PlannerParam

diff --git a/...avior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.hpp b/...avior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.hpp
@@ -29,7 +29,7 @@
 
 namespace autoware::behavior_velocity_planner
 {
-class NoDrivableLaneModuleManager : public SceneModuleManagerInterface
+class NoDrivableLaneModuleManager : public SceneModuleManagerInterface<>
 {
 public:
   explicit NoDrivableLaneModuleManager(rclcpp::Node & node);

diff --git a/.../behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/.../behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_behavior_velocity_planner_common</depend>
+  <depend>autoware_behavior_velocity_rtc_interface</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>

diff --git a/...avior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp b/...avior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp
@@ -69,16 +69,17 @@ void NoStoppingAreaModuleManager::launchNewModules(
   }
 }
 
-std::function<bool(const std::shared_ptr<SceneModuleInterface> &)>
+std::function<bool(const std::shared_ptr<SceneModuleInterfaceWithRTC> &)>
 NoStoppingAreaModuleManager::getModuleExpiredFunction(
   const tier4_planning_msgs::msg::PathWithLaneId & path)
 {
   const auto no_stopping_area_id_set = planning_utils::getRegElemIdSetOnPath<NoStoppingArea>(
     path, planner_data_->route_handler_->getLaneletMapPtr(), planner_data_->current_odometry->pose);
 
-  return [no_stopping_area_id_set](const std::shared_ptr<SceneModuleInterface> & scene_module) {
-    return no_stopping_area_id_set.count(scene_module->getModuleId()) == 0;
-  };
+  return
+    [no_stopping_area_id_set](const std::shared_ptr<SceneModuleInterfaceWithRTC> & scene_module) {
+      return no_stopping_area_id_set.count(scene_module->getModuleId()) == 0;
+    };
 }
 
 }  // namespace autoware::behavior_velocity_planner

diff --git a/...avior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.hpp b/...avior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.hpp
@@ -19,7 +19,7 @@
 
 #include <autoware/behavior_velocity_planner_common/plugin_interface.hpp>
 #include <autoware/behavior_velocity_planner_common/plugin_wrapper.hpp>
-#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
+#include <autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
@@ -41,8 +41,8 @@ class NoStoppingAreaModuleManager : public SceneModuleManagerInterfaceWithRTC
 
   void launchNewModules(const tier4_planning_msgs::msg::PathWithLaneId & path) override;
 
-  std::function<bool(const std::shared_ptr<SceneModuleInterface> &)> getModuleExpiredFunction(
-    const tier4_planning_msgs::msg::PathWithLaneId & path) override;
+  std::function<bool(const std::shared_ptr<SceneModuleInterfaceWithRTC> &)>
+  getModuleExpiredFunction(const tier4_planning_msgs::msg::PathWithLaneId & path) override;
 };
 
 class NoStoppingAreaModulePlugin : public PluginWrapper<NoStoppingAreaModuleManager>

diff --git a/...planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/...planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
@@ -41,7 +41,7 @@ NoStoppingAreaModule::NoStoppingAreaModule(
   const lanelet::autoware::NoStoppingArea & no_stopping_area_reg_elem,
   const PlannerParam & planner_param, const rclcpp::Logger & logger,
   const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterface(module_id, logger, clock),
+: SceneModuleInterfaceWithRTC(module_id, logger, clock),
   lane_id_(lane_id),
   no_stopping_area_reg_elem_(no_stopping_area_reg_elem),
   planner_param_(planner_param),

diff --git a/...planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp b/...planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp
@@ -17,9 +17,9 @@
 
 #include "utils.hpp"
 
-#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/state_machine.hpp>
+#include <autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp>
 #include <autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -31,7 +31,7 @@
 
 namespace autoware::behavior_velocity_planner
 {
-class NoStoppingAreaModule : public SceneModuleInterface
+class NoStoppingAreaModule : public SceneModuleInterfaceWithRTC
 {
 public:
   struct PlannerParam

diff --git a/...ehavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/manager.hpp b/...ehavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/manager.hpp
@@ -39,7 +39,7 @@
 
 namespace autoware::behavior_velocity_planner
 {
-class OcclusionSpotModuleManager : public SceneModuleManagerInterface
+class OcclusionSpotModuleManager : public SceneModuleManagerInterface<>
 {
 public:
   explicit OcclusionSpotModuleManager(rclcpp::Node & node);

diff --git a/...g/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md b/...g/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md
@@ -1,3 +1,3 @@
 # Behavior Velocity Planner Common
 
-This package provides common functions as a library, which are used in the `behavior_velocity_planner` node and modules.
+This package provides a behavior velocity interface without RTC, and common functions as a library, which are used in the `behavior_velocity_planner` node and modules.