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refactor(behavior_path_planner): refactoring goal_planner and pull_ou…
…t params (#338) Signed-off-by: kosuke55 <[email protected]>
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...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 |
|---|---|---|
| @@ -1,96 +1,108 @@ | ||
| /**: | ||
| ros__parameters: | ||
| goal_planner: | ||
| # general params | ||
| minimum_request_length: 100.0 | ||
| th_arrived_distance: 1.0 | ||
| th_stopped_velocity: 0.01 | ||
| th_stopped_time: 2.0 # It must be greater than the state_machine's. | ||
| pull_over_velocity: 3.0 | ||
| pull_over_minimum_velocity: 1.38 | ||
| margin_from_boundary: 0.5 | ||
| decide_path_distance: 10.0 | ||
| maximum_deceleration: 1.0 | ||
| maximum_jerk: 1.0 | ||
|
|
||
| # goal search | ||
| search_priority: "efficient_path" # "efficient_path" or "close_goal" | ||
| parking_policy: "left_side" # "left_side" or "right_side" | ||
| forward_goal_search_length: 20.0 | ||
| backward_goal_search_length: 20.0 | ||
| goal_search_interval: 2.0 | ||
| longitudinal_margin: 3.0 | ||
| max_lateral_offset: 0.5 | ||
| lateral_offset_interval: 0.25 | ||
| ignore_distance_from_lane_start: 15.0 | ||
| goal_search: | ||
| search_priority: "efficient_path" # "efficient_path" or "close_goal" | ||
| parking_policy: "left_side" # "left_side" or "right_side" | ||
| forward_goal_search_length: 20.0 | ||
| backward_goal_search_length: 20.0 | ||
| goal_search_interval: 2.0 | ||
| longitudinal_margin: 3.0 | ||
| max_lateral_offset: 0.5 | ||
| lateral_offset_interval: 0.25 | ||
| ignore_distance_from_lane_start: 15.0 | ||
| margin_from_boundary: 0.5 | ||
|
|
||
| # occupancy grid map | ||
| use_occupancy_grid: true | ||
| use_occupancy_grid_for_longitudinal_margin: false | ||
| occupancy_grid_collision_check_margin: 0.0 | ||
| theta_size: 360 | ||
| obstacle_threshold: 60 | ||
| occupancy_grid: | ||
| use_occupancy_grid: true | ||
| use_occupancy_grid_for_longitudinal_margin: false | ||
| occupancy_grid_collision_check_margin: 0.0 | ||
| theta_size: 360 | ||
| obstacle_threshold: 60 | ||
|
|
||
| # object recognition | ||
| use_object_recognition: true | ||
| object_recognition_collision_check_margin: 1.0 | ||
| # shift path | ||
| enable_shift_parking: true | ||
| pull_over_sampling_num: 4 | ||
| maximum_lateral_jerk: 2.0 | ||
| minimum_lateral_jerk: 0.5 | ||
| deceleration_interval: 15.0 | ||
| after_pull_over_straight_distance: 1.0 | ||
| # freespace parking | ||
| enable_freespace_parking: true | ||
| freespace_parking: | ||
| planning_algorithm: "astar" # options: astar, rrtstar | ||
| velocity: 1.0 | ||
| vehicle_shape_margin: 1.0 | ||
| time_limit: 3000.0 | ||
| minimum_turning_radius: 5.0 | ||
| maximum_turning_radius: 5.0 | ||
| turning_radius_size: 1 | ||
| # search configs | ||
| theta_size: 144 | ||
| angle_goal_range: 6.0 | ||
| curve_weight: 1.2 | ||
| reverse_weight: 1.0 | ||
| lateral_goal_range: 0.5 | ||
| longitudinal_goal_range: 2.0 | ||
| # costmap configs | ||
| obstacle_threshold: 30 | ||
| # -- A* search Configurations -- | ||
| astar: | ||
| only_behind_solutions: false | ||
| use_back: false | ||
| distance_heuristic_weight: 1.0 | ||
| # -- RRT* search Configurations -- | ||
| rrtstar: | ||
| enable_update: true | ||
| use_informed_sampling: true | ||
| max_planning_time: 150.0 | ||
| neighbor_radius: 8.0 | ||
| margin: 1.0 | ||
| # parallel parking path | ||
| enable_arc_forward_parking: true | ||
| enable_arc_backward_parking: true | ||
| after_forward_parking_straight_distance: 2.0 | ||
| after_backward_parking_straight_distance: 2.0 | ||
| forward_parking_velocity: 1.38 | ||
| backward_parking_velocity: -1.38 | ||
| forward_parking_lane_departure_margin: 0.0 | ||
| backward_parking_lane_departure_margin: 0.0 | ||
| arc_path_interval: 1.0 | ||
| pull_over_max_steer_angle: 0.35 # 20deg | ||
| # hazard on when parked | ||
| hazard_on_threshold_distance: 1.0 | ||
| hazard_on_threshold_velocity: 0.5 | ||
| # check safety with dynamic objects. Not used now. | ||
| pull_over_duration: 2.0 | ||
| pull_over_prepare_duration: 4.0 | ||
| min_stop_distance: 5.0 | ||
| stop_time: 2.0 | ||
| hysteresis_buffer_distance: 2.0 | ||
| prediction_time_resolution: 0.5 | ||
| enable_collision_check_at_prepare_phase: false | ||
| use_predicted_path_outside_lanelet: false | ||
| use_all_predicted_path: false | ||
| object_recognition: | ||
| use_object_recognition: true | ||
| object_recognition_collision_check_margin: 1.0 | ||
|
|
||
| # pull over | ||
| pull_over: | ||
| pull_over_velocity: 3.0 | ||
| pull_over_minimum_velocity: 1.38 | ||
| decide_path_distance: 10.0 | ||
| maximum_deceleration: 1.0 | ||
| maximum_jerk: 1.0 | ||
|
|
||
| # shift parking | ||
| shift_parking: | ||
| enable_shift_parking: true | ||
| shift_sampling_num: 4 | ||
| maximum_lateral_jerk: 2.0 | ||
| minimum_lateral_jerk: 0.5 | ||
| deceleration_interval: 15.0 | ||
| after_shift_straight_distance: 1.0 | ||
|
|
||
| # parallel parking path | ||
| parallel_parking: | ||
| path_interval: 1.0 | ||
| max_steer_angle: 0.35 # 20deg | ||
| forward: | ||
| enable_arc_forward_parking: true | ||
| after_forward_parking_straight_distance: 2.0 | ||
| forward_parking_velocity: 1.38 | ||
| forward_parking_lane_departure_margin: 0.0 | ||
| forward_parking_path_interval: 1.0 | ||
| forward_parking_max_steer_angle: 0.35 # 20deg | ||
| backward: | ||
| enable_arc_backward_parking: true | ||
| after_backward_parking_straight_distance: 2.0 | ||
| backward_parking_velocity: -1.38 | ||
| backward_parking_lane_departure_margin: 0.0 | ||
| backward_parking_path_interval: 1.0 | ||
| backward_parking_max_steer_angle: 0.35 # 20deg | ||
|
|
||
| # freespace parking | ||
| freespace_parking: | ||
| enable_freespace_parking: true | ||
| freespace_parking_algorithm: "astar" # options: astar, rrtstar | ||
| velocity: 1.0 | ||
| vehicle_shape_margin: 1.0 | ||
| time_limit: 3000.0 | ||
| minimum_turning_radius: 5.0 | ||
| maximum_turning_radius: 5.0 | ||
| turning_radius_size: 1 | ||
| # search configs | ||
| search_configs: | ||
| theta_size: 144 | ||
| angle_goal_range: 6.0 | ||
| curve_weight: 1.2 | ||
| reverse_weight: 1.0 | ||
| lateral_goal_range: 0.5 | ||
| longitudinal_goal_range: 2.0 | ||
| # costmap configs | ||
| costmap_configs: | ||
| obstacle_threshold: 30 | ||
| # -- A* search Configurations -- | ||
| astar: | ||
| only_behind_solutions: false | ||
| use_back: false | ||
| distance_heuristic_weight: 1.0 | ||
| # -- RRT* search Configurations -- | ||
| rrtstar: | ||
| enable_update: true | ||
| use_informed_sampling: true | ||
| max_planning_time: 150.0 | ||
| neighbor_radius: 8.0 | ||
| margin: 1.0 | ||
|
|
||
| # debug | ||
| print_debug_info: false | ||
| debug: | ||
| print_debug_info: false |