From 74768419ab2f36d667e15fcf59614fbb9fbc5c08 Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Fri, 1 Dec 2023 02:14:39 +0900 Subject: [PATCH] refactor(start_planner): refactor debug parameters This commit removes the `verbose` parameter under `start_planner` and introduces a new `debug` section. The newly added `debug` section includes a `print_debug_info` parameter, set to false by default. This change provides a more structured way to handle debugging configurations for the start planner. Signed-off-by: kyoichi-sugahara --- .../goal_planner/goal_planner.param.yaml | 2 +- .../start_planner/start_planner.param.yaml | 7 +++++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index d339ed99ff..06fe74e3b7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -119,7 +119,7 @@ # EgoPredictedPath ego_predicted_path: min_velocity: 1.0 - acceleration: 1.0 + min_acceleration: 1.0 max_velocity: 1.0 time_horizon_for_front_object: 10.0 time_horizon_for_rear_object: 10.0 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 6f85128264..5e73895d28 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 @@ -2,8 +2,6 @@ ros__parameters: start_planner: - verbose: false - th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 1.0 @@ -85,6 +83,7 @@ # EgoPredictedPath ego_predicted_path: min_velocity: 0.0 + min_acceleration: 1.0 acceleration: 1.0 max_velocity: 1.0 time_horizon_for_front_object: 10.0 @@ -140,3 +139,7 @@ # temporary backward_path_length: 30.0 forward_path_length: 100.0 + + # debug + debug: + print_debug_info: false