fix

Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

Author: PanConChicharron

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml

@@ -1,5 +1,17 @@
 /**:
   ros__parameters:
+    common:
+      enable_debug_info: false
+      enable_calculation_time_info: false
+
+      stop_obstacle_type:
+        pointcloud: true
+
+      enable_slow_down_planning: true
+    
+      slow_down_obstacle_type:
+        pointcloud: false
+
     smooth_velocity_before_planning: true  # [-] if true, smooth the velocity profile of the input trajectory before planning
 
     trajectory_polygon_collision_check:

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_slow_down.param.yaml

@@ -42,6 +42,14 @@
           pedestrian: true
           pointcloud: false
 
+        pointcloud:
+          pointcloud_voxel_grid_x: 0.05
+          pointcloud_voxel_grid_y: 0.05
+          pointcloud_voxel_grid_z: 100000.0
+          pointcloud_cluster_tolerance: 1.0
+          pointcloud_min_cluster_size: 1
+          pointcloud_max_cluster_size: 100000
+
         min_lat_margin: 0.0  # lateral margin between obstacle and trajectory band with ego's width to avoid the conflict with the obstacle_stop
         max_lat_margin: 1.1  # lateral margin between obstacle and trajectory band with ego's width
         lat_hysteresis_margin: 0.2

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_stop.param.yaml

@@ -54,6 +54,14 @@
             bicycle: false
             pedestrian: false
 
+        pointcloud:
+          pointcloud_voxel_grid_x: 0.05
+          pointcloud_voxel_grid_y: 0.05
+          pointcloud_voxel_grid_z: 100000.0
+          pointcloud_cluster_tolerance: 1.0
+          pointcloud_min_cluster_size: 1
+          pointcloud_max_cluster_size: 100000
+
         # hysteresis for velocity
         obstacle_velocity_threshold_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
         obstacle_velocity_threshold_from_stop : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]