From a26f6b7e3f444b74f496d7e788a2d4fe39d1bdd3 Mon Sep 17 00:00:00 2001
From: mitukou1109 <mitukou1109@gmail.com>
Date: Thu, 2 May 2024 14:26:51 +0900
Subject: [PATCH] add parameters for obstacle_cruise_planner

---
 .../obstacle_cruise_planner.param.yaml                       | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index dc314511a1..86f6f95200 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -37,6 +37,7 @@
         motorcycle: true
         bicycle: true
         pedestrian: true
+        pointcloud: false
 
       cruise_obstacle_type:
         inside:
@@ -68,8 +69,12 @@
         motorcycle: true
         bicycle: true
         pedestrian: true
+        pointcloud: false
 
     behavior_determination:
+      use_pointcloud: false
+      pointcloud_search_radius: 5.0
+
       decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking
 
       prediction_resampling_time_interval: 0.1