feat(behavior_path_planner): param to skip some linestring types when…

… expanding the drivable area (autowarefoundation#160) [behavior_path_planner] add types to skip in drivable_area_expansion Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
keiota · Jan 13, 2023 · 9ef2b69 · 9ef2b69
1 parent 1561132
commit 9ef2b69
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -3,18 +3,24 @@
     avoidance:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
     lane_change:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
     lane_following:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
     pull_out:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
     pull_over:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]
     side_shift:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0
+      drivable_area_types_to_skip: [road_border]