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feat(tier4_control_launch): disable the trajectory extension #866

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Feb 14, 2024
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feat(tier4_control_launch): disable the trajectory extension #866

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2 changes: 1 addition & 1 deletion autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
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Expand Up @@ -13,7 +13,7 @@
curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)

# -- trajectory extending --
extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control
extend_trajectory_for_end_yaw_control: false # flag of trajectory extending for terminal yaw control

# -- mpc optimization --
qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp)
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