changes for testing

Signed-off-by: Daniel Sanchez <[email protected]>
tier4 · Nov 16, 2023 · eee0e52 · eee0e52
1 parent e534f6c
commit eee0e52
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Showing 2 changed files with 12 additions and 9 deletions.
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -2,19 +2,22 @@ launch:
   # behavior path modules
   - arg:
       name: launch_avoidance_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_avoidance_by_lane_change_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_dynamic_avoidance_module
       default: "false"
   - arg:
-      name: launch_lane_change_right_module
+      name: launch_sampling_planner_module
       default: "true"
+  - arg:
+      name: launch_lane_change_right_module
+      default: "false"
   - arg:
       name: launch_lane_change_left_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_external_request_lane_change_right_module
       default: "false"
@@ -23,16 +26,16 @@ launch:
       default: "false"
   - arg:
       name: launch_goal_planner_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_start_planner_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_side_shift_module
-      default: "true"
+      default: "false"
   - arg:
       name: use_experimental_lane_change_function
-      default: "true"
+      default: "false"
 
   # behavior velocity modules
   - arg:

diff --git a/...ving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml b/...ving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml
@@ -18,7 +18,7 @@
       soft:
         lateral_deviation_weight: 1.0  # cost weight for lateral deviation between the end of a sampled path and the reference path
         length_weight: 1.0  # cost weight for the length of a sampled path
-        curvature_weight: 1.0  # cost weight for the curvature of a sampled path
+        curvature_weight: 1.2  # cost weight for the curvature of a sampled path
     sampling:
       enable_frenet: True
       enable_bezier: False