From 23d464bea75f1796b7b9b1d30af45ade26722a9a Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 17 Jan 2023 21:02:00 +0900 Subject: [PATCH] feat(behavior_path_planner): add option for combining arc pull out paths (#701) * feat(behavior_path_planner): add option for combining arc pull out paths Signed-off-by: kosuke55 * divide_pull_out_path Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../behavior_path_planner/pull_out/pull_out.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml index b092eb7fc8..bde6daa42d 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml @@ -16,6 +16,7 @@ deceleration_interval: 15.0 # geometric pull out enable_geometric_pull_out: true + divide_pull_out_path: false geometric_pull_out_velocity: 1.0 arc_path_interval: 1.0 lane_departure_margin: 0.2