Add config

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4 · Apr 3, 2024 · 595adce · 595adce
1 parent da29c76
commit 595adce
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diff --git a/planning/behavior_path_lane_change_module/config/lane_change.param.yaml b/planning/behavior_path_lane_change_module/config/lane_change.param.yaml
@@ -92,6 +92,7 @@
       enable_collision_check_for_prepare_phase:
         general_lanes: false
         intersection: true
+        turns: true
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
       check_objects_on_current_lanes: true
       check_objects_on_other_lanes: true

diff --git a/planning/behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_lane_change_module/src/manager.cpp
@@ -72,6 +72,8 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node)
     *node, parameter("enable_collision_check_for_prepare_phase.general_lanes"));
   p.enable_collision_check_for_prepare_phase_in_intersection = getOrDeclareParameter<bool>(
     *node, parameter("enable_collision_check_for_prepare_phase.intersection"));
+  p.enable_collision_check_for_prepare_phase_in_turns =
+    getOrDeclareParameter<bool>(*node, parameter("enable_collision_check_for_prepare_phase.turns"));
   p.prepare_segment_ignore_object_velocity_thresh = getOrDeclareParameter<double>(
     *node, parameter("prepare_segment_ignore_object_velocity_thresh"));
   p.check_objects_on_current_lanes =