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feat(goal_planner): add options of occupancy grid map to use only for goal search #563

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Sep 14, 2023
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feat(goal_planner): add options of occupancy grid map to use only for goal search #563

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5 changes: 3 additions & 2 deletions ...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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