fix: interpolation interval (#111)

tier4 · Sep 7, 2022 · fc36cba · fc36cba
1 parent 6c73362
commit fc36cba
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp b/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp
@@ -104,7 +104,7 @@ bool OcclusionSpotModule::modifyPathVelocity(
   utils::clipPathByLength(*path, clipped_path, param_.detection_area_length);
   PathWithLaneId path_interpolated;
   //! never change this interpolation interval(will affect module accuracy)
-  splineInterpolate(clipped_path, 1.0, path_interpolated, logger_);
+  splineInterpolate(clipped_path, 0.5, path_interpolated, logger_);
   const geometry_msgs::msg::Point start_point = path_interpolated.points.at(0).point.pose.position;
   const auto offset = motion_utils::calcSignedArcLength(
     path_interpolated.points, ego_pose, start_point, param_.dist_thr, param_.angle_thr);