From 1412557da91d3d6f8b5c9ec8ad526424f5a5b7c6 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 19 Sep 2024 14:32:27 +0900 Subject: [PATCH] refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (#8913) * align autoware_raw_vehicle_cmd_converter's parameter Signed-off-by: kyoichi-sugahara * align start_planner's parameter Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../config/start_planner.param.yaml | 11 +++++++++-- .../config/raw_vehicle_cmd_converter.param.yaml | 2 +- 2 files changed, 10 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml index f93800450a479..a71c202b05043 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml @@ -69,10 +69,11 @@ search_configs: theta_size: 120 angle_goal_range: 6.0 - curve_weight: 0.5 - reverse_weight: 1.0 lateral_goal_range: 0.5 longitudinal_goal_range: 2.0 + curve_weight: 0.5 + reverse_weight: 1.0 + direction_change_weight: 1.5 # costmap configs costmap_configs: obstacle_threshold: 30 @@ -81,7 +82,13 @@ search_method: "forward" # options: forward, backward only_behind_solutions: false use_back: true + adapt_expansion_distance: true + expansion_distance: 0.5 + near_goal_distance: 3.0 distance_heuristic_weight: 2.0 + smoothness_weight: 0.5 + obstacle_distance_weight: 1.75 + goal_lat_distance_weight: 5.0 # -- RRT* search Configurations -- rrtstar: enable_update: true diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml index 4eb9f0ab6d442..e108de527ecbc 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml @@ -5,7 +5,7 @@ csv_path_steer_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/steer_map.csv convert_accel_cmd: true convert_brake_cmd: true - convert_steer_cmd: true + convert_steer_cmd: false use_steer_ff: true use_steer_fb: true is_debugging: false