feat(autoware_launch): add min_drivable_width (#334)

* feat(autoware_launch): add min_drivable_width Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
tier4 · Apr 30, 2023 · 0409a24 · 0409a24
1 parent bfd0bd8
commit 0409a24
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -110,6 +110,7 @@
         avoidance_cost_margin: 0.0                       # [m]
         avoidance_cost_band_length: 5.0                  # [m]
         avoidance_cost_decrease_rate: 0.05               # decreased cost per point interval
+        min_drivable_width: 0.2                          # [m] The vehicle width and this parameter is guaranteed to keep for collision free constraint.
 
         weight:
           lat_error_weight: 0.0     # weight for lateral error