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feat(autoware_launch): add param for configurable lateral_distance #140

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Feb 14, 2023
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feat(autoware_launch): add param for configurable lateral_distance #140

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10 changes: 9 additions & 1 deletion ...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@
voxel_grid_x: 0.05 # voxel grid x parameter for filtering pointcloud [m]
voxel_grid_y: 0.05 # voxel grid y parameter for filtering pointcloud [m]
voxel_grid_z: 100000.0 # voxel grid z parameter for filtering pointcloud [m]
use_predicted_objects: False # whether to use predicted objects [-]
publish_obstacle_polygon: False # whether to publish obstacle polygon [-]

stop_planner:
# params for stop position
Expand All @@ -17,7 +19,10 @@

# params for detection area
detection_area:
lateral_margin: 0.0 # margin of vehicle footprint [m]
lateral_margin: 0.0 # margin [m]
vehicle_lateral_margin: 0.0 # margin of vehicle footprint [m]
pedestrian_lateral_margin: 0.0 # margin of pedestrian footprint [m]
unknown_lateral_margin: 0.0 # margin of unknown footprint [m]
step_length: 1.0 # step length for pointcloud search range [m]
extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance [m]

Expand All @@ -33,6 +38,9 @@
# params for detection area
detection_area:
lateral_margin: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
vehicle_lateral_margin: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
pedestrian_lateral_margin: 1.0 # offset from pedestrian side edge for expanding the search area of the surrounding point cloud [m]
unknown_lateral_margin: 1.0 # offset from unknown side edge for expanding the search area of the surrounding point cloud [m]

# params for velocity
target_velocity:
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