feat(obstacle_avoidance_planner): add options for plan_from_ego (auto…

…warefoundation#371) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
rej55 · Jul 4, 2022 · 83403b2 · 83403b2
1 parent c5ce8e1
commit 83403b2
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -58,7 +58,8 @@
       option:
         steer_limit_constraint: true
         fix_points_around_ego: true
-        # plan_from_ego: false
+        plan_from_ego: false
+        max_plan_from_ego_length: 10.0
         visualize_sampling_num: 1
         enable_manual_warm_start: true
         enable_warm_start: true # false