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Merge pull request autowarefoundation#834 from tier4/sync-awf-upstream
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chore: sync awf/autoware_launch
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tier4-autoware-public-bot[bot] authored Mar 4, 2023
2 parents 7200338 + 08dd5b5 commit ef184c4
Showing 1 changed file with 32 additions and 1 deletion.
Original file line number Diff line number Diff line change
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pull_over_minimum_velocity: 1.38
margin_from_boundary: 0.5
decide_path_distance: 10.0
maximum_deceleration: 1.0
maximum_deceleration: 0.5
# goal research
enable_goal_research: true
search_priority: "efficient_path" # "efficient_path" or "close_goal"
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minimum_lateral_jerk: 0.5
deceleration_interval: 15.0
after_pull_over_straight_distance: 1.0
# freespace parking
enable_freespace_parking: true
freespace_parking:
planning_algorithm: "astar" # options: astar, rrtstar
velocity: 1.0
vehicle_shape_margin: 1.0
time_limit: 3000.0
minimum_turning_radius: 5.0
maximum_turning_radius: 5.0
turning_radius_size: 1
# search configs
theta_size: 144
angle_goal_range: 6.0
curve_weight: 1.2
reverse_weight: 1.0
lateral_goal_range: 0.5
longitudinal_goal_range: 2.0
# costmap configs
obstacle_threshold: 30
# -- A* search Configurations --
astar:
only_behind_solutions: false
use_back: false
distance_heuristic_weight: 1.0
# -- RRT* search Configurations --
rrtstar:
enable_update: true
use_informed_sampling: true
max_planning_time: 150.0
neighbor_radius: 8.0
margin: 1.0
# parallel parking path
enable_arc_forward_parking: true
enable_arc_backward_parking: true
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