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feat(behavior_path_planner): update behavior param file (#3220)
* feat(behavior_path_planner): add new config file for manger Signed-off-by: satoshi-ota <[email protected]> * feat(launch): add config path Signed-off-by: satoshi-ota <[email protected]> * fix(behavior_path_planner): add missing param file Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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planning/behavior_path_planner/config/drivable_area_expansion.param.yaml
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/**: | ||
ros__parameters: | ||
# Static expansion | ||
avoidance: | ||
drivable_area_right_bound_offset: 0.0 | ||
drivable_area_left_bound_offset: 0.0 | ||
drivable_area_types_to_skip: [road_border] | ||
lane_change: | ||
drivable_area_right_bound_offset: 0.0 | ||
drivable_area_left_bound_offset: 0.0 | ||
drivable_area_types_to_skip: [road_border] | ||
lane_following: | ||
drivable_area_right_bound_offset: 0.0 | ||
drivable_area_left_bound_offset: 0.0 | ||
drivable_area_types_to_skip: [road_border] | ||
pull_out: | ||
drivable_area_right_bound_offset: 0.0 | ||
drivable_area_left_bound_offset: 0.0 | ||
drivable_area_types_to_skip: [road_border] | ||
pull_over: | ||
drivable_area_right_bound_offset: 0.0 | ||
drivable_area_left_bound_offset: 0.0 | ||
drivable_area_types_to_skip: [road_border] | ||
side_shift: | ||
drivable_area_right_bound_offset: 0.0 | ||
drivable_area_left_bound_offset: 0.0 | ||
drivable_area_types_to_skip: [road_border] | ||
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# Dynamic expansion by projecting the ego footprint along the path | ||
dynamic_expansion: | ||
enabled: false | ||
ego: | ||
extra_footprint_offset: | ||
front: 0.5 # [m] extra length to add to the front of the ego footprint | ||
rear: 0.5 # [m] extra length to add to the rear of the ego footprint | ||
left: 0.5 # [m] extra length to add to the left of the ego footprint | ||
right: 0.5 # [m] extra length to add to the rear of the ego footprint | ||
dynamic_objects: | ||
avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects | ||
extra_footprint_offset: | ||
front: 0.5 # [m] extra length to add to the front of the dynamic object footprint | ||
rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint | ||
left: 0.5 # [m] extra length to add to the left of the dynamic object footprint | ||
right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint | ||
expansion: | ||
method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'. | ||
# 'lanelet': add lanelets overlapped by the ego footprints | ||
# 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area | ||
max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) | ||
max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) | ||
extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint | ||
avoid_linestring: | ||
types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area | ||
- road_border | ||
distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid | ||
compensate: | ||
enable: true # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction | ||
extra_distance: 3.0 # [m] extra distance to add to the compensation |
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planning/behavior_path_planner/config/scene_module_manager.param.yaml
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# USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE. | ||
# https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt | ||
# NOTE: The smaller the priority number is, the higher the module priority is. | ||
/**: | ||
ros__parameters: | ||
ext_request_lane_change_left: | ||
enable_module: false | ||
enable_simultaneous_execution: false | ||
priority: 6 | ||
max_module_size: 1 | ||
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ext_request_lane_change_right: | ||
enable_module: false | ||
enable_simultaneous_execution: false | ||
priority: 6 | ||
max_module_size: 1 | ||
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lane_change_left: | ||
enable_module: true | ||
enable_simultaneous_execution: true | ||
priority: 5 | ||
max_module_size: 1 | ||
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lane_change_right: | ||
enable_module: true | ||
enable_simultaneous_execution: false | ||
priority: 4 | ||
max_module_size: 1 | ||
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pull_out: | ||
enable_module: true | ||
enable_simultaneous_execution: false | ||
priority: 0 | ||
max_module_size: 1 | ||
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side_shift: | ||
enable_module: true | ||
enable_simultaneous_execution: false | ||
priority: 2 | ||
max_module_size: 1 | ||
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pull_over: | ||
enable_module: true | ||
enable_simultaneous_execution: false | ||
priority: 1 | ||
max_module_size: 1 | ||
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avoidance: | ||
enable_module: true | ||
enable_simultaneous_execution: false | ||
priority: 3 | ||
max_module_size: 1 |