diff --git a/planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json b/planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json index a119139a13a20..1a80b3146d9f1 100644 --- a/planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json +++ b/planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json @@ -16,6 +16,11 @@ "default": "5.0", "description": "backward path" }, + "behavior_output_path_interval": { + "type": "number", + "default": "1.0", + "description": "output path interval" + }, "max_accel": { "type": "number", "default": "-2.8", @@ -49,6 +54,7 @@ }, "required": [ "forward_path_length", + "behavior_output_path_interval", "backward_path_length", "max_accel", "system_delay", diff --git a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json index aa8936d331a87..cc292c5a8c40f 100644 --- a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json +++ b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json @@ -142,9 +142,6 @@ } }, "required": [ - "csv_path_accel_map", - "csv_path_brake_map", - "csv_path_steer_map", "convert_accel_cmd", "convert_brake_cmd", "convert_steer_cmd",