From a576ad2ca3f77e3fd179f8d80fa295608bbd6f5f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 14 Sep 2023 16:56:05 +0900 Subject: [PATCH] feat(goal_planner): add options of occupancy grid map to use only for goal search (#563) Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 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 c1fd848857..f298406792 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 @@ -21,8 +21,9 @@ # occupancy grid map occupancy_grid: - use_occupancy_grid: true - use_occupancy_grid_for_longitudinal_margin: false + use_occupancy_grid_for_goal_search: true + use_occupancy_grid_for_goal_longitudinal_margin: false + use_occupancy_grid_for_path_collision_check: false occupancy_grid_collision_check_margin: 0.0 theta_size: 360 obstacle_threshold: 60