From 1d712d039c0984842a3024eb3d62838190a76b18 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 15 Sep 2022 21:40:44 +0900 Subject: [PATCH] feat(obstacle_avoidance_planner): fix can be applied to the first trajectory point (#476) * update param Signed-off-by: Takayuki Murooka * update param Signed-off-by: Takayuki Murooka Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 6 ++++++ 1 file changed, 6 insertions(+) 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 78abda6861..50f5caa048 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 @@ -63,6 +63,7 @@ visualize_sampling_num: 1 enable_manual_warm_start: true enable_warm_start: true # false + is_fixed_point_single: false common: num_curvature_sampling_points: 5 # number of sampling points when calculating curvature @@ -148,3 +149,8 @@ num_for_calculation: 3 front_radius_ratio: 1.0 rear_radius_ratio: 1.0 + + bicycle_model: + num_for_calculation: 3 + front_radius_ratio: 1.0 + rear_radius_ratio: 1.0