From 87021c6ce04e6fae68449969c4a20aa313bbbda6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 30 Aug 2023 01:49:21 +0900 Subject: [PATCH] feat(autoware_launch): add min_longitudinal_polygon_margin and use object_path_base in dynamic_avoidance (#534) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index fad859ac16..fe30397683 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/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]