From 17a27ac72db3391ea495246de5c3519d20951896 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Sun, 26 Nov 2023 23:23:37 +0900 Subject: [PATCH] feat(goal_planenr): enable safety check (#705) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 118268d854..d339ed99ff 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -159,7 +159,7 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: false # Don't set to true if auto_mode is enabled + enable_safety_check: true method: "integral_predicted_polygon" keep_unsafe_time: 3.0 # collision check parameters