Merge pull request #10 from tier4/sync-awf-latest-xx1

chore: sync awf-latest-xx1
tier4 · Mar 27, 2023 · 7a12ee1 · 7a12ee1
2 parents 66f6a73 + a84f3dc
commit 7a12ee1
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Showing 3 changed files with 10 additions and 9 deletions.
diff --git a/.github/workflows/update-sync-param-files.yaml b/.github/workflows/update-sync-param-files.yaml
@@ -47,8 +47,6 @@ jobs:
 
       - name: Enable auto-merge
         if: ${{ steps.create-pr.outputs.pull-request-operation == 'created' }}
-        uses: peter-evans/enable-pull-request-automerge@v2
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          pull-request-number: ${{ steps.create-pr.outputs.pull-request-number }}
-          merge-method: squash
+        run: gh pr merge --squash --auto "${{ steps.create-pr.outputs.pull-request-number }}"
+        env:
+          GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}
diff --git a/...anning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml b/...anning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
@@ -6,3 +6,5 @@
       dead_line_margin: 5.0
       use_pass_judge_line: false
       state_clear_time: 2.0
+      hold_stop_margin_distance: 0.0
+      distance_to_judge_over_stop_line: 0.5
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
@@ -102,10 +102,11 @@
 
       # avoidance
       avoidance:
-        max_avoidance_cost: 0.5            # [m]
-        avoidance_cost_margin: 0.0         # [m]
-        avoidance_cost_band_length: 5.0    # [m]
-        avoidance_cost_decrease_rate: 0.05 # decreased cost per point interval
+        max_longitudinal_margin_for_bound_violation: 1.0 # [m]
+        max_avoidance_cost: 0.5                          # [m]
+        avoidance_cost_margin: 0.0                       # [m]
+        avoidance_cost_band_length: 5.0                  # [m]
+        avoidance_cost_decrease_rate: 0.05               # decreased cost per point interval
 
         weight:
           lat_error_weight: 0.0     # weight for lateral error