From 708a5b9def62fe170a34927f85c5f373da0ac563 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 11 Jan 2024 14:54:25 +0900 Subject: [PATCH] feat(start_planner): define collision check margin as list (#770) * Update collision check margins in start planner configuration Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index d04728861a..277771f13f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -5,7 +5,7 @@ th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 1.0 - collision_check_margin: 1.0 + collision_check_margins: [2.0, 1.0, 0.5, 0.1] collision_check_distance_from_end: 1.0 collision_check_margin_from_front_object: 5.0 th_moving_object_velocity: 1.0