feat(goal_planner): add options of occupancy grid map to use only for…

… goal search (#563) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Sep 21, 2023 · 4ca5434 · 4ca5434
1 parent 8d0de94
commit 4ca5434
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -21,8 +21,9 @@
 
       # occupancy grid map
       occupancy_grid:
-        use_occupancy_grid: true
-        use_occupancy_grid_for_longitudinal_margin: false
+        use_occupancy_grid_for_goal_search: true
+        use_occupancy_grid_for_goal_longitudinal_margin: false
+        use_occupancy_grid_for_path_collision_check: false
         occupancy_grid_collision_check_margin: 0.0
         theta_size: 360
         obstacle_threshold: 60