Merge pull request #217 from tier4/auto/fix-behavior-path-tree

Auto/fix behavior path tree
tier4 · Dec 3, 2021 · 4b42908 · 4b42908
2 parents 578cd2d + 0a0f211
commit 4b42908
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -170,10 +170,17 @@ def generate_launch_description():
             {
                 "bt_tree_config_path": [
                     FindPackageShare("behavior_path_planner"),
-                    "/config/behavior_path_planner_tree.xml",
+                    "/config/behavior_path_planner_tree_lane_change_only.xml",
                 ],
                 "planning_hz": 10.0,
             },
+            {
+                "enable_abort_lane_change": False,
+                "enable_collision_check_at_prepare_phase": False,
+                "use_predicted_path_outside_lanelet": False,
+                "use_all_predicted_path": False,
+                "enable_blocked_by_obstacle": False,
+            },
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )