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perf(path_sampler): tune lateral_deviation_weight for more stable planning #455

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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@
max_curvature: 0.1 # [m⁻¹] maximum curvature of a sampled path
min_curvature: -0.1 # [m⁻¹] minimum curvature of a sampled path
soft:
lateral_deviation_weight: 0.1 # cost weight for lateral deviation between the end of a sampled path and the reference path
lateral_deviation_weight: 1.0 # cost weight for lateral deviation between the end of a sampled path and the reference path
length_weight: 1.0 # cost weight for the length of a sampled path
curvature_weight: 1.0 # cost weight for the curvature of a sampled path
sampling:
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