From 78bbf70de51dc01b8892436102c6ea28dda73d5b Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 26 Aug 2021 17:59:05 +0900 Subject: [PATCH] add rosparam for vehicle center optimization (#362) --- .../obstacle_avoidance_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 8150af7436212..2a38048a66337 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 @@ -82,6 +82,7 @@ terminal_path_lat_error_weight: 1000.0 # weight for lateral error at path end point terminal_path_yaw_error_weight: 1000.0 # weight for yaw error at path end point zero_ff_steer_angle: 0.5 # threshold that feed-forward angle becomes zero + optimization_center_offset: 1.5 # replanning & trimming trajectory param outside algorithm min_delta_dist_for_replan: 10.0 # minimum delta dist thres for replan[m]