From 31e1c3981cb41afebacc89dcbd4079c10e38f935 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 26 Apr 2022 02:03:26 +0900 Subject: [PATCH] update bounds search widths Signed-off-by: Takayuki Murooka --- .../config/obstacle_avoidance_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml b/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml index 02ce1e8cc7903..bc3962ca5adbf 100644 --- a/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml +++ b/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml @@ -123,7 +123,7 @@ eps_rel: 1.0e-10 # eps rel when solving OSQP mpt: - bounds_search_widths: [0.1, 0.03, 0.01] + bounds_search_widths: [0.45, 0.15, 0.05, 0.01] clearance: # clearance(distance) between vehicle and roads/objects when generating trajectory hard_clearance_from_road: 0.0 # clearance from road boundary[m]