From 7e145bcaefbbc17cd225c22dba1898c25c37eae5 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 15 Jan 2024 18:10:11 +0900 Subject: [PATCH] feat(mpc): add parameter for debug trajectory publisher (#790) Signed-off-by: Takamasa Horibe --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 4222082d40..9998b6aadf 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -74,3 +74,5 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 + + debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate