refactor(start_planner): refactor debug and safety check logic (#719)

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 <[email protected]>
autowarefoundation · Dec 5, 2023 · 8077e68 · 8077e68
1 parent 6d6af42
commit 8077e68
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...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/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_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
@@ -85,7 +83,7 @@
         # EgoPredictedPath
         ego_predicted_path:
           min_velocity: 0.0
-          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
@@ -140,3 +138,7 @@
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0
+
+      # debug
+      debug:
+        print_debug_info: false