From 80a988b8d018fc1818a8d9d574db85a3f9e16955 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 14 Aug 2024 01:11:00 +0900 Subject: [PATCH] fix(goal_planner): fix lane departure check not working correctly due to uninitialized variable (#1116) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 5cee76de9b..d1b2cf5936 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -55,6 +55,7 @@ maximum_jerk: 1.0 path_priority: "efficient_path" # "efficient_path" or "close_goal" efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking) + lane_departure_check_expansion_margin: 0.0 # shift parking shift_parking: