From e2805c60041ebc340c56361c55fbf5f894da3fdc Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Tue, 5 Dec 2023 17:16:08 +0900 Subject: [PATCH] custom params changes Signed-off-by: Daniel Sanchez --- .../config/planning/preset/default_preset.yaml | 12 ++++++------ .../behavior_path_planner.param.yaml | 2 +- .../sampling_planner/sampling_planner.param.yaml | 6 +++--- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 88fb6c7012..660847aae4 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/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" diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 8d93a95b37..f35d8fa2c5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/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 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml index af47e985ca..c4c85153ae 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml +++ b/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]