From d30299cbd56bbb5c12685e0c9110459eff8038dd Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Wed, 21 Feb 2024 13:17:19 +0900 Subject: [PATCH 1/2] refactor(behavior_path_planner): remove unused drivable area parameters Signed-off-by: Maxime CLEMENT --- .../config/avoidance.param.yaml | 4 +--- .../config/behavior_path_planner.param.yaml | 5 ----- 2 files changed, 1 insertion(+), 8 deletions(-) diff --git a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml index cd2a51851fe5f..1998b51497129 100644 --- a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml +++ b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml @@ -4,9 +4,7 @@ avoidance: resample_interval_for_planning: 0.3 # [m] resample_interval_for_output: 4.0 # [m] - drivable_area_right_bound_offset: 0.0 # [m] - drivable_area_left_bound_offset: 0.0 # [m] - + # avoidance module common setting enable_bound_clipping: false enable_yield_maneuver: true diff --git a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml index 0c5dbc082c9b9..f3f6870085e02 100644 --- a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml +++ b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml @@ -25,11 +25,6 @@ input_path_interval: 2.0 output_path_interval: 2.0 - lane_following: - drivable_area_right_bound_offset: 0.0 - drivable_area_left_bound_offset: 0.0 - drivable_area_types_to_skip: [road_border] - closest_lanelet: distance_threshold: 5.0 # [m] yaw_threshold: 0.79 # [rad] From ee5c61fdd5f23b8e97348bc7209b6c09f37a5a2a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Thu, 29 Feb 2024 17:46:38 +0300 Subject: [PATCH 2/2] Update planning/behavior_path_avoidance_module/config/avoidance.param.yaml --- .../behavior_path_avoidance_module/config/avoidance.param.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml index 1998b51497129..5a81d7d972a0e 100644 --- a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml +++ b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml @@ -4,7 +4,6 @@ avoidance: resample_interval_for_planning: 0.3 # [m] resample_interval_for_output: 4.0 # [m] - # avoidance module common setting enable_bound_clipping: false enable_yield_maneuver: true