chore(planing): enable all features

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Oct 25, 2023 · b176d83 · b176d83
1 parent 262a774
commit b176d83
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -7,7 +7,7 @@
 
     # Dynamic expansion by using the path curvature
     dynamic_expansion:
-      enabled: false
+      enabled: true
       print_runtime: false
       max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
       smoothing:

diff --git a/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -19,8 +19,8 @@
       # behavior_velocity_planner::VirtualTrafficLightModulePlugin
       - behavior_velocity_planner::NoStoppingAreaModulePlugin     # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom.
       - behavior_velocity_planner::StopLineModulePlugin           # Permanent stop line module should be after no stopping area
-      # behavior_velocity_planner::OcclusionSpotModulePlugin
-      # behavior_velocity_planner::RunOutModulePlugin
-      # behavior_velocity_planner::SpeedBumpModulePlugin
+      - behavior_velocity_planner::OcclusionSpotModulePlugin
+      - behavior_velocity_planner::RunOutModulePlugin
+      - behavior_velocity_planner::SpeedBumpModulePlugin
       - behavior_velocity_planner::OutOfLaneModulePlugin
-      # behavior_velocity_planner::NoDrivableLaneModulePlugin
+      - behavior_velocity_planner::NoDrivableLaneModulePlugin