From 2a4c036a76514d7b16ea612481cc2441c0a68fcf Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 28 Mar 2023 09:22:40 +0900 Subject: [PATCH 1/2] feat(compare_map_segmentation): add param for dynamic map loading (#257) Signed-off-by: badai-nguyen --- .../detection/pointcloud_map_filter.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml index a07a9416c2..b811c6031b 100644 --- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml @@ -1,5 +1,9 @@ /**: ros__parameters: use_down_sample_filter: False + use_dynamic_map_loading: True down_sample_voxel_size: 0.1 distance_threshold: 0.5 + timer_interval_ms: 100 + map_update_distance_threshold: 10.0 + map_loader_radius: 150.0 From 57197548cdce44b8f7f0b30978cc6daa51fcdbee Mon Sep 17 00:00:00 2001 From: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com> Date: Tue, 28 Mar 2023 10:36:11 +0300 Subject: [PATCH 2/2] feat(lane_following): consider lane ego angle diff (#250) feat(lane_following): consider lane-ego angle diff Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> --- .../lane_following/lane_following.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml index b6a9574bb4..8263622f1d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml @@ -2,3 +2,7 @@ ros__parameters: lane_following: lane_change_prepare_duration: 2.0 + + closest_lanelet: + distance_threshold: 5.0 # [m] + yaw_threshold: 0.79 # [rad]