feat(behavior_path_planner): enable pull_over backward_parking by def…

…ault (autowarefoundation#1653) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
tier4 · Nov 10, 2022 · 707bb83 · 707bb83
1 parent 1bff80b
commit 707bb83
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -12,7 +12,7 @@
       min_acc: -0.5
       enable_shift_parking: true
       enable_arc_forward_parking: true
-      enable_arc_backward_parking: false
+      enable_arc_backward_parking: true
       # goal research
       search_priority: "efficient_path" # "efficient_path" or "close_goal"
       enable_goal_research: true

diff --git a/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml b/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml
@@ -12,7 +12,7 @@
       min_acc: -0.5
       enable_shift_parking: true
       enable_arc_forward_parking: true
-      enable_arc_backward_parking: false
+      enable_arc_backward_parking: true
       # goal research
       search_priority: "efficient_path" # "efficient_path" or "close_goal"
       enable_goal_research: true

diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -387,7 +387,7 @@ PullOverParameters BehaviorPathPlannerNode::getPullOverParam()
   p.min_acc = dp("min_acc", -0.5);
   p.enable_shift_parking = dp("enable_shift_parking", true);
   p.enable_arc_forward_parking = dp("enable_arc_forward_parking", true);
-  p.enable_arc_backward_parking = dp("enable_arc_backward_parking", false);
+  p.enable_arc_backward_parking = dp("enable_arc_backward_parking", true);
   // goal research
   p.search_priority = dp("search_priority", "efficient_path");
   p.enable_goal_research = dp("enable_goal_research", true);