modify some inconsistency

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
autowarefoundation · Jan 29, 2025 · 69e1271 · 69e1271
1 parent 19ec1be
commit 69e1271
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Showing 4 changed files with 6 additions and 8 deletions.
diff --git a/...or_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/...or_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml
@@ -81,7 +81,7 @@
             forward_parking_velocity: 1.38
             forward_parking_lane_departure_margin: 0.0
             forward_parking_path_interval: 1.0
-            forward_parking_max_steer_angle: 0.35  # 20deg
+            forward_parking_max_steer_angle: 0.4  # 22.9deg
             forward_parking_steer_rate_lim: 0.35
             forward_parking_use_clothoid: true
           backward:
@@ -90,7 +90,7 @@
             backward_parking_velocity: -1.38
             backward_parking_lane_departure_margin: 0.0
             backward_parking_path_interval: 1.0
-            backward_parking_max_steer_angle: 0.35  # 20deg
+            backward_parking_max_steer_angle: 0.4  # 22.9deg
             backward_parking_steer_rate_lim: 0.35
             backward_parking_use_clothoid: true
 

diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp
@@ -186,7 +186,7 @@ GoalPlannerParameters GoalPlannerModuleManager::initGoalPlannerParameters(
     p.parallel_parking_parameters.forward_parking_max_steer_angle =
       node->declare_parameter<double>(ns + "forward_parking_max_steer_angle");  // 20deg
     p.parallel_parking_parameters.forward_parking_steer_rate_lim =
-      node->declare_parameter<double>(ns + "forward_parking_steer_rate_lim");  // 20deg
+      node->declare_parameter<double>(ns + "forward_parking_steer_rate_lim");
     p.parallel_parking_parameters.forward_parking_use_clothoid =
       node->declare_parameter<bool>(ns + "forward_parking_use_clothoid");
   }
@@ -207,7 +207,7 @@ GoalPlannerParameters GoalPlannerModuleManager::initGoalPlannerParameters(
     p.parallel_parking_parameters.backward_parking_max_steer_angle =
       node->declare_parameter<double>(ns + "backward_parking_max_steer_angle");  // 20deg
     p.parallel_parking_parameters.backward_parking_steer_rate_lim =
-      node->declare_parameter<double>(ns + "backward_parking_steer_rate_lim");  // 20deg
+      node->declare_parameter<double>(ns + "backward_parking_steer_rate_lim");
     p.parallel_parking_parameters.backward_parking_use_clothoid =
       node->declare_parameter<bool>(ns + "backward_parking_use_clothoid");
   }

diff --git a/.../autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp b/.../autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp
@@ -82,9 +82,6 @@ std::optional<PullOverPath> GeometricPullOver::plan(
   auto pull_over_path_opt = PullOverPath::create(
     getPlannerType(), id, planner_.getPaths(), planner_.getStartPose(), modified_goal_pose,
     planner_.getPairsTerminalVelocityAndAccel());
-  if (!pull_over_path_opt) {
-    return {};
-  }
-  return pull_over_path_opt.value();
+  return pull_over_path_opt;
 }
 }  // namespace autoware::behavior_path_planner
diff --git a/...e_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp b/...e_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
@@ -250,6 +250,7 @@ bool GeometricParallelParking::planPullOver(
       }
     }
   }
+
   return false;
 }
-Original file line number
+Diff line change
@@ Expand Up / @@ -250,6 +250,7 @@ bool GeometricParallelParking::planPullOver( @@
           }
         }
       }
       return false;
     }
@@ Expand Down @@