diff --git a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml new file mode 100644 index 0000000000..cf4f73dc79 --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml @@ -0,0 +1,22 @@ +/**: + ros__parameters: + costmap_frame: "map" + vehicle_frame: "base_link" + map_frame: "map" + update_rate: 10.0 + activate_by_scenario: False + grid_min_value: 0.0 + grid_max_value: 1.0 + grid_resolution: 0.2 + grid_length_x: 70.0 + grid_length_y: 70.0 + grid_position_x: 0.0 + grid_position_y: 0.0 + maximum_lidar_height_thres: 0.3 + minimum_lidar_height_thres: -2.2 + use_wayarea: true + use_parkinglot: true + use_objects: true + use_points: true + expand_polygon_size: 1.0 + size_of_expansion_kernel: 9 diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 7a21273131..5f14006f7a 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -17,6 +17,9 @@ + + + @@ -25,6 +28,7 @@ +