custom params changes

Signed-off-by: Daniel Sanchez <[email protected]>

autoware_launch/config/planning/preset/default_preset.yaml

@@ -5,7 +5,7 @@ launch:
       default: "false"
   - arg:
       name: launch_avoidance_by_lane_change_module
-      default: "false"
+      default: "true"
   - arg:
       name: launch_dynamic_avoidance_module
       default: "false"
@@ -14,10 +14,10 @@ launch:
       default: "true"
   - arg:
       name: launch_lane_change_right_module
-      default: "false"
+      default: "true"
   - arg:
       name: launch_lane_change_left_module
-      default: "false"
+      default: "true"
   - arg:
       name: launch_external_request_lane_change_right_module
       default: "false"
@@ -26,13 +26,13 @@ launch:
       default: "false"
   - arg:
       name: launch_goal_planner_module
-      default: "false"
+      default: "true"
   - arg:
       name: launch_start_planner_module
-      default: "false"
+      default: "true"
   - arg:
       name: launch_side_shift_module
-      default: "false"
+      default: "true"
   - arg:
       name: use_experimental_lane_change_function
       default: "false"

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

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    verbose: false
+    verbose: true
     max_iteration_num: 100
 
     traffic_light_signal_timeout: 1.0

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

@@ -24,9 +24,9 @@
       enable_bezier: False
       resolution: 0.5  # [m] target distance between sampled path points
       previous_path_reuse_points_nb: 2  # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc)
-      target_lengths: [15.0, 20.0, 40.0]  # [m] target lengths of the sampled paths
-      nb_target_lateral_positions: 10 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation)
-      target_lateral_positions: [-4.5,-2.5, 0.0, 2.5,4.5]  # manual values that are only used if nb_target_lateral_positions = 0
+      target_lengths: [ 20.0, 40.0]  # [m] target lengths of the sampled paths
+      nb_target_lateral_positions: 0 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation)
+      target_lateral_positions: [-2.5, 0.0, 2.5]  # manual values that are only used if nb_target_lateral_positions = 0
       frenet:  # target values for the sampled "lateral deviation over longitudinal position" polynomial
         target_lateral_velocities: [-0.5, 0.0, 0.5]
         target_lateral_accelerations: [-0.1, 0.0, 0.1]