feat(autoware_launch): add min_longitudinal_polygon_margin and use ob…

…ject_path_base in dynamic_avoidance (#534)

Signed-off-by: Takayuki Murooka <[email protected]>

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml

@@ -2,7 +2,7 @@
   ros__parameters:
     dynamic_avoidance:
       common:
-        enable_debug_info: true
+        enable_debug_info: false
         use_hatched_road_markings: true
 
       # avoidance is performed for the object type with true
@@ -42,7 +42,9 @@
           max_object_angle: 0.785
 
       drivable_area_generation:
-        polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
+        polygon_generation_method: "object_path_base" # choose "ego_path_base" and "object_path_base"
+        object_path_base:
+          min_longitudinal_polygon_margin: 3.0 # [m]
 
         lat_offset_from_obstacle: 0.8 # [m]
         max_lat_offset_to_avoid: 0.5 # [m]