From 82c2f81ed86c640cdf28fb257c3c5cb3bd1101bc Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 7 Sep 2022 10:20:11 +0900 Subject: [PATCH] feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over (#470) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../behavior_path_planner/pull_over/pull_over.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index 8aba3d305c..0231003e24 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -16,7 +16,7 @@ forward_goal_search_length: 20.0 backward_goal_search_length: 20.0 goal_search_interval: 1.0 - goal_to_obj_margin: 2.0 + goal_to_obstacle_margin: 2.0 # occupancy grid map use_occupancy_grid: true occupancy_grid_collision_check_margin: 0.0