From 94a7ab656a6728f23f9feb1ccedf755821edbbbb Mon Sep 17 00:00:00 2001 From: beyzanurkaya <32412808+beyzanurkaya@users.noreply.github.com> Date: Thu, 5 Sep 2024 09:58:15 +0300 Subject: [PATCH] feat(autoware_launch): add expansion params (#1133) make expansion optional Signed-off-by: beyza --- .../dynamic_obstacle_avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml index 32d0caffd8..aa1fdb3048 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml @@ -51,6 +51,7 @@ max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value. drivable_area_generation: + expand_drivable_area: false polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base" object_path_base: min_longitudinal_polygon_margin: 3.0 # [m]