Merge pull request autowarefoundation#471 from tier4/sync-awf-latest

chore: sync awf-latest
mitukou1109 · Jul 3, 2024 · 8dbb34b · 8dbb34b
2 parents d9d383d + d05e5b2
commit 8dbb34b
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -37,6 +37,7 @@
         motorcycle: true
         bicycle: true
         pedestrian: true
+        pointcloud: false
 
       cruise_obstacle_type:
         inside:
@@ -68,8 +69,17 @@
         motorcycle: true
         bicycle: true
         pedestrian: true
+        pointcloud: false
 
     behavior_determination:
+      pointcloud_search_radius: 5.0
+      pointcloud_voxel_grid_x: 0.05
+      pointcloud_voxel_grid_y: 0.05
+      pointcloud_voxel_grid_z: 100000.0
+      pointcloud_cluster_tolerance: 1.0
+      pointcloud_min_cluster_size: 1
+      pointcloud_max_cluster_size: 100000
+
       decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking
 
       prediction_resampling_time_interval: 0.1