From ae5d72a8dd862cf5d9c48a0e0d7ca8a781762fe9 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 28 Mar 2022 19:44:30 +0900 Subject: [PATCH] feat(behavior_path_planner): parametrize avoidance target type (#248) * feat(behavior_path_planner): parametrize avoidance target Signed-off-by: Takamasa Horibe * motorbike -> motorcycle Signed-off-by: Takamasa Horibe --- .../avoidance/avoidance.param.yaml | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 3e799bea132ab..d691228589bfa 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -46,5 +46,16 @@ longitudinal_collision_margin_min_distance: 0.0 # [m] longitudinal_collision_margin_time: 0.0 + # avoidance is performed for the object type with true + target_object: + car: true + truck: true + bus: true + trailer: true + unknown: false + bicycle: false + motorcycle: false + pedestrian: false + # ---------- advanced parameters ---------- avoidance_execution_lateral_threshold: 0.499