Merge branch 'main' into ground_segmenatation/add_default_params

autowarefoundation · Jan 31, 2024 · 90f23e5 · 90f23e5
2 parents 36a19e9 + 7837d1f
commit 90f23e5
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Showing 2 changed files with 6 additions and 2 deletions.
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
@@ -14,6 +14,7 @@
       # shift pull out
       enable_shift_pull_out: true
       check_shift_path_lane_departure: true
+      shift_collision_check_distance_from_end: -10.0
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
       lateral_jerk: 0.5
@@ -23,6 +24,7 @@
       maximum_curvature: 0.07
       # geometric pull out
       enable_geometric_pull_out: true
+      geometric_collision_check_distance_from_end: 0.0
       divide_pull_out_path: true
       geometric_pull_out_velocity: 1.0
       arc_path_interval: 1.0

diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -1,8 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
-    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.xml">
     <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+    <arg name="pointcloud_map_metadata_path" value="$(var map_path)/pointcloud_map_metadata.yaml"/>
+    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+    <arg name="map_projector_info_path" value="$(var map_path)/map_projector_info.yaml"/>
 
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
     <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>