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refactor(start_planner): refactor debug and safety check logic #719

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merged 1 commit into from
Dec 5, 2023
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refactor(start_planner): refactor debug and safety check logic #719

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2 changes: 1 addition & 1 deletion ...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,7 @@
# EgoPredictedPath
ego_predicted_path:
min_velocity: 1.0
acceleration: 1.0
min_acceleration: 1.0
max_velocity: 1.0
time_horizon_for_front_object: 10.0
time_horizon_for_rear_object: 10.0
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8 changes: 5 additions & 3 deletions ...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,6 @@
ros__parameters:
start_planner:

verbose: false

th_arrived_distance: 1.0
th_stopped_velocity: 0.01
th_stopped_time: 1.0
Expand Down Expand Up @@ -85,7 +83,7 @@
# EgoPredictedPath
ego_predicted_path:
min_velocity: 0.0
acceleration: 1.0
min_acceleration: 1.0
max_velocity: 1.0
time_horizon_for_front_object: 10.0
time_horizon_for_rear_object: 10.0
Expand Down Expand Up @@ -140,3 +138,7 @@
# temporary
backward_path_length: 30.0
forward_path_length: 100.0

# debug
debug:
print_debug_info: false
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