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chore: sync awf/autoware_launch #226

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merged 2 commits into from
Aug 21, 2023
Merged

chore: sync awf/autoware_launch #226

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11fdbcc
fix(ekf_localizer): fix parameter first capital letter (#519)
kminoda Aug 18, 2023
3cf0e55
feat(start_planner): support freespace pull out (#514)
kosuke55 Aug 20, 2023
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2 changes: 1 addition & 1 deletion autoware_launch/config/localization/ekf_localizer.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
/**:
ros__parameters:
show_debug_info: false
enable_yaw_bias_estimation: True
enable_yaw_bias_estimation: true
predict_frequency: 50.0
tf_rate: 50.0
extend_state_step: 50
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36 changes: 36 additions & 0 deletions ...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
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Expand Up @@ -36,3 +36,39 @@
th_turn_signal_on_lateral_offset: 1.0
intersection_search_length: 30.0
length_ratio_for_turn_signal_deactivation_near_intersection: 0.5
# freespace planner
freespace_planner:
enable_freespace_planner: true
end_pose_search_start_distance: 20.0
end_pose_search_end_distance: 30.0
end_pose_search_interval: 2.0
freespace_planner_algorithm: "astar" # options: astar, rrtstar
velocity: 1.0
vehicle_shape_margin: 1.0
time_limit: 3000.0
minimum_turning_radius: 5.0
maximum_turning_radius: 5.0
turning_radius_size: 1
# search configs
search_configs:
theta_size: 144
angle_goal_range: 6.0
curve_weight: 1.2
reverse_weight: 1.0
lateral_goal_range: 0.5
longitudinal_goal_range: 2.0
# costmap configs
costmap_configs:
obstacle_threshold: 30
# -- A* search Configurations --
astar:
only_behind_solutions: false
use_back: false
distance_heuristic_weight: 1.0
# -- RRT* search Configurations --
rrtstar:
enable_update: true
use_informed_sampling: true
max_planning_time: 150.0
neighbor_radius: 8.0
margin: 1.0
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