From 86e7c16a5185d66f4067257d0b7ff67ef45dabdd Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 7 Sep 2023 22:20:52 +0900 Subject: [PATCH] feat(lane_departure_checker): add border types to check (#549) update lane_departure_checker.param.yaml Signed-off-by: kyoichi-sugahara --- .../lane_departure_checker.param.yaml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml index 008832b1ca..2d044e7cfd 100644 --- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml +++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml @@ -1,5 +1,10 @@ /**: ros__parameters: + # Enable feature + will_out_of_lane_checker: true + out_of_lane_checker: true + boundary_departure_checker: false + # Node update_rate: 10.0 visualize_lanelet: false @@ -7,7 +12,7 @@ include_left_lanes: false include_opposite_lanes: false include_conflicting_lanes: false - road_border_departure_checker: false + boundary_types_to_detect: [road_border] # Core footprint_margin_scale: 1.0