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fix(behavior_path_planner): remove unnecessary lane change parameter #280

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merged 1 commit into from
Apr 6, 2023
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fix(behavior_path_planner): remove unnecessary lane change parameter #280

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12 changes: 11 additions & 1 deletion ...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@
ros__parameters:
lane_change:
lane_change_prepare_duration: 4.0 # [s]
lane_changing_safety_check_duration: 8.0 # [s]

minimum_lane_change_prepare_distance: 2.0 # [m]
minimum_lane_change_length: 16.5 # [m]
Expand All @@ -23,6 +22,17 @@
use_predicted_path_outside_lanelet: false
use_all_predicted_path: false

# target object
target_object:
car: true
truck: true
bus: true
trailer: true
unknown: true
bicycle: true
motorcycle: true
pedestrian: true

# abort
enable_cancel_lane_change: true
enable_abort_lane_change: false
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