refactor(obstacle_avoidance_planner): use max_steer_angle in common (#…

…421) * refactor(obstacle_avoidance_planner): use max_steer_angle in common Signed-off-by: Takayuki Murooka <[email protected]> * fix runtime error Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Jul 27, 2022 · 00c214a · 00c214a
1 parent 114a876
commit 00c214a
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -68,9 +68,7 @@
         num_curvature_sampling_points: 5 # number of sampling points when calculating curvature
         delta_arc_length_for_mpt_points: 0.5 # delta arc length when generating mpt [m]
 
-      kinematics:
-        max_steer_deg: 40.0 # max steering angle [deg]
-
+      # kinematics:
         # If this parameter is commented out, the parameter is set as below by default.
         # The logic could be `optimization_center_offset = vehicle_info.wheel_base * 0.8`
         # The 0.8 scale is adopted as it performed the best.