feat(mission_planner): add param to prioritize start footprint

Signed-off-by: Mehmet Dogru <[email protected]>
autowarefoundation · Nov 29, 2023 · 41c10b8 · 41c10b8
1 parent 5ec4778
commit 41c10b8
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
@@ -10,3 +10,4 @@
     minimum_reroute_length: 30.0
     consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not.
     check_footprint_inside_lanes: true
+    prioritize_start_footprint: false # in case start checkpoint is inside multiple lanelet prioritize the one which start checkpoint footprint is within