From 002405787a7aa9ebf155223a91c52743bb9ea937 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Wed, 27 Dec 2023 18:41:56 +0900 Subject: [PATCH] update default params Signed-off-by: Daniel Sanchez --- .../sampling_planner/sampling_planner.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml index e3d94951b0..6944567e4b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml @@ -25,8 +25,8 @@ enable_bezier: False resolution: 0.5 # [m] target distance between sampled path points previous_path_reuse_points_nb: 2 # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc) - target_lengths: [15.0, 20.0, 40.0] # [m] target lengths of the sampled paths - nb_target_lateral_positions: 10 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) + target_lengths: [20.0, 40.0] # [m] target lengths of the sampled paths + nb_target_lateral_positions: 0 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) target_lateral_positions: [-4.5,-2.5, 0.0, 2.5,4.5] # manual values that are only used if nb_target_lateral_positions = 0 frenet: # target values for the sampled "lateral deviation over longitudinal position" polynomial target_lateral_velocities: [-0.5, 0.0, 0.5]