From eee0e5277f7cfb362584868229c236321d7c4db5 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Thu, 16 Nov 2023 16:16:21 +0900 Subject: [PATCH] changes for testing Signed-off-by: Daniel Sanchez --- .../planning/preset/default_preset.yaml | 19 +++++++++++-------- .../sampling_planner.param.yaml | 2 +- 2 files changed, 12 insertions(+), 9 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index fa4a2e4308..88fb6c7012 100644 --- 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/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml index 9f5ddcaa85..e8d823a43b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/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