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refactor(static_obstacle_avoidance): organize params for drivable lane #1042

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Jun 27, 2024
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refactor(static_obstacle_avoidance): organize params for drivable lane #1042

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8 changes: 6 additions & 2 deletions ...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
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Expand Up @@ -5,9 +5,13 @@
resample_interval_for_planning: 0.3 # [m] FOR DEVELOPER
resample_interval_for_output: 4.0 # [m] FOR DEVELOPER

# drivable lane setting. this module is able to use not only current lane but also right/left lane
# if the current lane(=lanelet::Lanelet) and the right/left lane share the boundary(=lanelet::Linestring) in HDMap.
# "current_lane" : use only current lane. this module doesn't use adjacent lane to avoid object.
# "same_direction_lane" : this module uses same direction lane to avoid object if need.
# "opposite_direction_lane": this module uses both same direction and opposite direction lane.
use_lane_type: "opposite_direction_lane"
# drivable area setting
use_adjacent_lane: true
use_opposite_lane: true
use_intersection_areas: true
use_hatched_road_markings: true
use_freespace_areas: true
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