From 860a85fa8615e4ce00b4f2afc074942a322fa009 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 17 Jan 2023 18:38:12 +0900 Subject: [PATCH] feat(behavior_path_planner): ignore pull over goal near lane start (#699) feat(behavior_path_planner) ignore pull over goal near lane start Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../behavior_path_planner/pull_over/pull_over.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index 4c9f4fd41b..f09439edf7 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -19,6 +19,7 @@ longitudinal_margin: 3.0 max_lateral_offset: 0.5 lateral_offset_interval: 0.25 + ignore_distance_from_lane_start: 15.0 # occupancy grid map use_occupancy_grid: true use_occupancy_grid_for_longitudinal_margin: false