feat(autoware_launch): add polygon_generation_method in dynamic_avoid…

…ance (#508) Signed-off-by: Takayuki Murooka <[email protected]>
tier4 · Aug 12, 2023 · 975fe46 · 975fe46
1 parent 1978d63
commit 975fe46
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -42,6 +42,8 @@
           max_object_angle: 0.785
 
       drivable_area_generation:
+        polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
+
         lat_offset_from_obstacle: 0.8 # [m]
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]