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Signed-off-by: Yuki Takagi <[email protected]>
tier4 · Mar 29, 2024 · 13b7a2e · 13b7a2e
1 parent fbb9930
commit 13b7a2e
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -5,7 +5,7 @@ launch:
       default: "true"
   - arg:
       name: launch_avoidance_by_lane_change_module
-      default: "true"
+      default: "true" #?
   - arg:
       name: launch_dynamic_avoidance_module
       default: "true"
@@ -70,7 +70,7 @@ launch:
       default: "false"
   - arg:
       name: launch_run_out_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_speed_bump_module
       default: "false"

diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -2,7 +2,7 @@
   ros__parameters:
     dynamic_avoidance:
       common:
-        enable_debug_info: false
+        enable_debug_info: true
         use_hatched_road_markings: true
 
       # avoidance is performed for the object type with true
@@ -19,8 +19,8 @@
         max_obstacle_vel: 100.0 # [m/s]
         min_obstacle_vel: 0.0 # [m/s]
 
-        successive_num_to_entry_dynamic_avoidance_condition: 5
-        successive_num_to_exit_dynamic_avoidance_condition: 1
+        successive_num_to_entry_dynamic_avoidance_condition: 1
+        successive_num_to_exit_dynamic_avoidance_condition: 0
 
         min_obj_lat_offset_to_ego_path: 0.0 # [m]
         max_obj_lat_offset_to_ego_path: 1.0 # [m]