fix(start/goal_planner): resample path and make params (#586)

Signed-off-by: kosuke55 <[email protected]>
tier4 · Sep 24, 2023 · 76a3f65 · 76a3f65
1 parent 6e1174a
commit 76a3f65
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 0 deletions.
diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -5,6 +5,7 @@
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 2.0  # It must be greater than the state_machine's.
+      center_line_path_interval: 1.0
 
       # goal search
       goal_search:

diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -8,6 +8,7 @@
       collision_check_distance_from_end: 1.0
       th_moving_object_velocity: 1.0
       th_distance_to_middle_of_the_road: 0.1
+      center_line_path_interval: 1.0
       # shift pull out
       enable_shift_pull_out: true
       check_shift_path_lane_departure: false