From 53f1b38f90a314fd82d7126f311f7a1c98fb76fe Mon Sep 17 00:00:00 2001 From: Mehmet Dogru Date: Wed, 29 Nov 2023 11:55:52 +0900 Subject: [PATCH] feat(mission_planner): add param to prioritize start footprint Signed-off-by: Mehmet Dogru --- .../mission_planning/mission_planner/mission_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 index 9b7dcffbc6..ce2eb79245 100644 --- 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