From 94a0e199844e6291b764012eb92b82453c8cb978 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 11 May 2023 10:35:00 +0900 Subject: [PATCH 1/2] refactor(avoidance): remove redundant parameter (#340) * refactor(avoidance): rename parameter Signed-off-by: satoshi-ota * fix(avoidance): remove redundant parameter Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 708009d4bc..2e5b96116d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -98,9 +98,8 @@ # avoidance lateral parameters lateral: lateral_collision_margin: 1.0 # [m] - lateral_passable_safety_buffer: 1.0 # [m] + lateral_execution_threshold: 0.499 # [m] road_shoulder_safety_margin: 0.3 # [m] - avoidance_execution_lateral_threshold: 0.499 max_right_shift_length: 5.0 max_left_shift_length: 5.0 # avoidance distance parameters From 85bbac32199e4c0f9888d27f3dbc055ba9edee93 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 11 May 2023 18:06:35 +0900 Subject: [PATCH 2/2] feat(planning_launch): side shift debug marker (#298) * feat(planning_launch): side shift debug marker Signed-off-by: Muhammad Zulfaqar * delete blank line Signed-off-by: kyoichi-sugahara * style(pre-commit): autofix --------- Signed-off-by: Muhammad Zulfaqar Signed-off-by: kyoichi-sugahara Co-authored-by: kyoichi-sugahara Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../behavior_path_planner/side_shift/side_shift.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml index 815301d55a..62aac0b9b4 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml @@ -7,3 +7,4 @@ min_shifting_distance: 5.0 min_shifting_speed: 5.56 shift_request_time_limit: 1.0 + publish_debug_marker: false