From 2212173543cb3810f0998103f5ee70bfe039a87f Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Fri, 22 Sep 2023 23:02:35 +0900 Subject: [PATCH] fix(start/goal_planner): resample path and make params Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 1 + .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 2 files changed, 2 insertions(+) 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 0c11077ea6..70dd904863 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 @@ -5,6 +5,7 @@ th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 2.0 # It must be greater than the state_machine's. + center_line_path_interval: 1.0 # goal search goal_search: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index ee0edd21c9..352a0bf350 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -8,6 +8,7 @@ collision_check_distance_from_end: 1.0 th_moving_object_velocity: 1.0 th_distance_to_middle_of_the_road: 0.1 + center_line_path_interval: 1.0 # shift pull out enable_shift_pull_out: true check_shift_path_lane_departure: false