feat(start_planner): add option for lane departure (#432)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Jul 3, 2023 · 9561e7c · 9561e7c
1 parent 3dc306e
commit 9561e7c
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -8,6 +8,7 @@
       collision_check_distance_from_end: 1.0
       # shift pull out
       enable_shift_pull_out: true
+      check_shift_path_lane_departure: false
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
       lateral_jerk: 0.5