From b868eaee917ff8e0555b515eecef242ecbb42b42 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 31 Oct 2023 20:06:04 +0900 Subject: [PATCH] feat(intersection): add ttc debug plotter (#666) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index ea5c5736ca..960dd89b00 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -83,6 +83,9 @@ attention_lane_curvature_calculation_ds: 0.5 static_occlusion_with_traffic_light_timeout: 0.5 + debug: + ttc: [0] + enable_rtc: intersection: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval intersection_to_occlusion: false