From 50ef597c8209f737aa257df51a0d12db8a155c9c Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 6 Sep 2023 23:37:28 +0900 Subject: [PATCH] fix(autoware_launch): revert obstacle_avoidance_planner parameter (#404) Signed-off-by: Takayuki Murooka --- .../autoware_path_optimizer/path_optimizer.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml index 5b6fb7d174..ea859fcde3 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml @@ -51,7 +51,7 @@ # If this parameter is commented out, the parameter is set as below by default. # The logic could be `optimization_center_offset = vehicle_info.wheelbase * 0.8` # The 0.8 scale is adopted as it performed the best. - optimization_center_offset: 2.0 # optimization center offset from base link + optimization_center_offset: 0.0 # optimization center offset from base link clearance: # clearance(distance) between vehicle and roads/objects when generating trajectory # if collision_free_constraints.option.hard_constraint is true