From 79bba19cb5776a3fd07357e180ef7e22b45f47c3 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Thu, 16 Jan 2025 13:51:31 +0900 Subject: [PATCH 1/2] feat(lane_change): add time limit param (#1298) add time limit param Signed-off-by: mohammad alqudah --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 6d1e0a5fe9..a926ad049c 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -1,6 +1,7 @@ /**: ros__parameters: lane_change: + time_limit: 50.0 # [ms] backward_lane_length: 200.0 backward_length_buffer_for_end_of_lane: 3.0 # [m] backward_length_buffer_for_blocking_object: 3.0 # [m] From 9240e589acd39b13f02db1e5be06eafe4e84ade8 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 16 Jan 2025 17:27:58 +0900 Subject: [PATCH 2/2] fix: remove unnecesary parameters (#1301) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/stop_line.param.yaml | 4 ---- 1 file changed, 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml index 5fa183d73a..f5e00fa708 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml @@ -3,8 +3,4 @@ stop_line: stop_margin: 0.0 stop_duration_sec: 1.0 - use_initialization_stop_line_state: true hold_stop_margin_distance: 2.0 - - debug: - show_stop_line_collision_check: false