feat(mpc): add parameter for debug trajectory publisher (#790)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
autowarefoundation · Jan 15, 2024 · 7e145bc · 7e145bc
1 parent e7c0f89
commit 7e145bc
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate