From 00c214a36a7f5162443f08da7e9ab6cdfc57ad0f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 27 Jul 2022 14:51:53 +0900 Subject: [PATCH] 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 * fix runtime error Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 87493df635..f31003da09 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_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.