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Add vehicle margin parameter to freespace planner. #1189

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Add vehicle margin parameter to freespace planner. #1189

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1 change: 1 addition & 0 deletions planning/freespace_planner/config/freespace_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
th_stopped_time_sec: 1.0
th_stopped_velocity_mps: 0.01
th_course_out_distance_m: 1.0
margin: 1.0
replan_when_obstacle_found: true
replan_when_course_out: true

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7 changes: 3 additions & 4 deletions planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp
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Expand Up @@ -463,10 +463,9 @@ void FreespacePlannerNode::planTrajectory()
// Extend robot shape
freespace_planning_algorithms::VehicleShape extended_vehicle_shape =
planner_common_param_.vehicle_shape;
constexpr double margin = 1.0;
extended_vehicle_shape.length += margin;
extended_vehicle_shape.width += margin;
extended_vehicle_shape.base2back += margin / 2;
extended_vehicle_shape.length += node_param_.margin;
extended_vehicle_shape.width += node_param_.margin;
extended_vehicle_shape.base2back += node_param_.margin / 2;

// Provide robot shape and map for the planner
algo_->setVehicleShape(extended_vehicle_shape);
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