From 707bb83e83f19d16e5fb9e44eb68720f70fed2da Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 29 Aug 2022 15:37:10 +0900 Subject: [PATCH] feat(behavior_path_planner): enable pull_over backward_parking by default (#1653) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../behavior_path_planner/pull_over/pull_over.param.yaml | 2 +- .../behavior_path_planner/config/pull_over/pull_over.param.yaml | 2 +- .../behavior_path_planner/src/behavior_path_planner_node.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index d636b14973c7..9653a75318b2 100644 --- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/launch/tier4_planning_launch/config/scenario_planning/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 index 11990ce51709..ce33bfaed738 100644 --- 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 index 8e4b79c084c8..3cf71760173f 100644 --- 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);