From 52361fff3666c0b5e800faebcde845838d396f2e Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 21 Sep 2023 19:02:59 +0900 Subject: [PATCH] feat: prevent start planner execution in the middle of the road (#579) (#642) * start planner:new param: dist th to middle of road * refactor param order --------- Signed-off-by: Daniel Sanchez Co-authored-by: danielsanchezaran --- .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 17949e621d..5cdee7b1b0 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -7,6 +7,7 @@ collision_check_margin: 1.0 collision_check_distance_from_end: 1.0 th_moving_object_velocity: 1.0 + th_distance_to_middle_of_the_road: 0.1 # shift pull out enable_shift_pull_out: true check_shift_path_lane_departure: false