From d626c3286e949d5bea1940d81aabb9db2bbe50e7 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 20 May 2022 12:41:47 +0900 Subject: [PATCH] feat(planning_launch): update obstacle avoidance params (#315) * add new obstacle avoidance changes * prepare rear_drive and uniform_circle constraints Signed-off-by: Takayuki Murooka * use rear_drive by default Signed-off-by: Takayuki Murooka * remove unnecessary code Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 44 +++++-------------- 1 file changed, 10 insertions(+), 34 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 bc3962ca5a..667d2644f1 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 @@ -83,28 +83,6 @@ # advanced parameters to improve performance as much as possible advanced: - option: - # check if planned trajectory is outside drivable area - drivability_check: - # true: vehicle shape is considered as a set of circles - # false: vehicle shape is considered as footprint (= rectangle) - use_vehicle_circles: false - - # parameters only when use_vehicle_circles is true - vehicle_circles: - use_manual_vehicle_circles: false - num_for_constraints: 4 - - # parameters only when use_manual_vehicle_circles is true - longitudinal_offsets: [-0.15, 0.88, 1.9, 2.95] - radius: 0.95 - - # parameters only when use_manual_vehicle_circles is false - radius_ratio: 0.9 - # If this parameter is commented out, the parameter is calculated automatically - # based on the vehicle length and width - # num_for_radius: 4 - eb: common: num_joint_buffer_points: 3 # number of joint buffer points @@ -161,15 +139,13 @@ # two_step_soft_constraint: false vehicle_circles: - use_manual_vehicle_circles: false - num_for_constraints: 3 - - # parameters only when use_manual_vehicle_circles is true - longitudinal_offsets: [-0.15, 0.88, 1.9, 2.95] - radius: 0.95 - - # parameters only when use_manual_vehicle_circles is false - radius_ratio: 0.8 - # If this parameter is commented out, the parameter is calculated automatically - # based on the vehicle length and width - # num_for_radius: 4 + method: "rear_drive" + + uniform_circle: + num: 3 + radius_ratio: 0.8 + + rear_drive: + num_for_calculation: 3 + front_radius_ratio: 1.0 + rear_radius_ratio: 1.0