set the params to be merged.

use stop planner as cruise planner type (conventional setting) polygon expansion in obstacle_cruise_planner is true Signed-off-by: Yuki Takagi <[email protected]>
tier4 · Sep 21, 2023 · 55daa3c · 55daa3c
1 parent f962620
commit 55daa3c
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -110,7 +110,7 @@
       # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence"
       # The both errors decrease with constant rates against the time.
       consider_current_pose:
-        enable_to_consider_current_pose: false
+        enable_to_consider_current_pose: true
         time_to_convergence: 1.5 #[s]
 
     cruise:

diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -4,7 +4,7 @@
   <!-- behavior -->
   <arg name="use_experimental_lane_change_function" default="true"/>
   <!-- motion -->
-  <arg name="cruise_planner_type" default="obstacle_cruise_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
+  <arg name="cruise_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
   <arg name="use_surround_obstacle_check" default="true"/>
   <arg name="path_smoother_type" default="elastic_band" description="options: elastic_band, none"/>
   <arg name="velocity_smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>