From f7f341ae2b76339e7301e5293918b828f53717d0 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 26 Aug 2021 19:57:22 +0900 Subject: [PATCH] update ros param for .iv (#353) * update ros param for .iv * forward fixing mpt time: 3.0->1.0 --- .../obstacle_avoidance_planner.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 2a38048a66337..ff885543f8b5e 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -65,7 +65,8 @@ # trajectory param for mpt num_curvature_sampling_points: 5 # number of sampling points when calculating curvature delta_arc_length_for_mpt_points: 0.5 # delta arc length when generating mpt[m] - forward_fixing_mpt_distance: 10 # number of fixing points around ego vehicle + forward_fixing_mpt_min_distance: 10 # number of fixing points around ego vehicle + forward_fixing_mpt_time: 1.0 # forward fixing time with current velocity [s] # optimization param for mpt is_hard_fixing_terminal_point: false # hard fixing terminal point