From 8982fe5c25abc21ca36842ce7bba31e7471161af Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Thu, 7 Sep 2023 21:42:56 +0900 Subject: [PATCH 1/3] feat(dynamic drivable area expansion): add replan_checker params Signed-off-by: Maxime CLEMENT --- .../behavior_path_planner/drivable_area_expansion.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 160ebdc180..31aa03f4e2 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -37,3 +37,7 @@ compensate: enable: true # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction extra_distance: 3.0 # [m] extra distance to add to the compensation + replan_checker: + enable: true # if true, only recalculate the expanded drivable area when the path or its original drivable area change significantly + # not compatible with dynamic_objects.avoid + max_deviation: 0.5 # [m] full replan is only done if the path or its original drivable area change by more than this distance \ No newline at end of file From 5810f4e1df81090f30b5b0d88eae93771dcdd8a3 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Fri, 8 Sep 2023 15:46:18 +0900 Subject: [PATCH 2/3] Add debug_print param Signed-off-by: Maxime CLEMENT --- .../behavior_path_planner/drivable_area_expansion.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/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 31aa03f4e2..85e5674376 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -8,6 +8,7 @@ # Dynamic expansion by projecting the ego footprint along the path dynamic_expansion: enabled: false + debug_print: false # if true, print some debug runtime measurements ego: extra_footprint_offset: front: 0.5 # [m] extra length to add to the front of the ego footprint @@ -15,7 +16,7 @@ left: 0.5 # [m] extra length to add to the left of the ego footprint right: 0.5 # [m] extra length to add to the rear of the ego footprint dynamic_objects: - avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects + avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects extra_footprint_offset: front: 0.5 # [m] extra length to add to the front of the dynamic object footprint rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint @@ -40,4 +41,4 @@ replan_checker: enable: true # if true, only recalculate the expanded drivable area when the path or its original drivable area change significantly # not compatible with dynamic_objects.avoid - max_deviation: 0.5 # [m] full replan is only done if the path or its original drivable area change by more than this distance \ No newline at end of file + max_deviation: 0.5 # [m] full replan is only done if the path changes by more than this distance \ No newline at end of file From be94d6075c778c06c4edf4fe997f4e38fa8f988c Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 8 Sep 2023 06:54:13 +0000 Subject: [PATCH 3/3] style(pre-commit): autofix --- .../behavior_path_planner/drivable_area_expansion.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/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 85e5674376..706a4fc2e4 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -41,4 +41,4 @@ replan_checker: enable: true # if true, only recalculate the expanded drivable area when the path or its original drivable area change significantly # not compatible with dynamic_objects.avoid - max_deviation: 0.5 # [m] full replan is only done if the path changes by more than this distance \ No newline at end of file + max_deviation: 0.5 # [m] full replan is only done if the path changes by more than this distance