feat(autoware_launch): make drivable area expansion parameters common (…

…#310) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
tier4 · Apr 24, 2023 · 0a82e31 · 0a82e31
1 parent 6628498
commit 0a82e31
Showing 1 changed file with 3 additions and 20 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
@@ -1,26 +1,9 @@
 /**:
   ros__parameters:
     # Static expansion
-    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]
-    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]
+    drivable_area_right_bound_offset: 0.0
+    drivable_area_left_bound_offset: 0.0
+    drivable_area_types_to_skip: [road_border]
 
     # Dynamic expansion by projecting the ego footprint along the path
     dynamic_expansion: