feat(behavior_path_planner): parametrize avoidance target type (autow…

…arefoundation#248) * feat(behavior_path_planner): parametrize avoidance target Signed-off-by: Takamasa Horibe <[email protected]> * motorbike -> motorcycle Signed-off-by: Takamasa Horibe <[email protected]>
TomohitoAndo · Mar 28, 2022 · ae5d72a · ae5d72a
1 parent 543481d
commit ae5d72a
Showing 1 changed file with 11 additions and 0 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -46,5 +46,16 @@
       longitudinal_collision_margin_min_distance: 0.0          # [m]
       longitudinal_collision_margin_time: 0.0
 
+      # avoidance is performed for the object type with true
+      target_object:
+        car: true
+        truck: true
+        bus: true
+        trailer: true
+        unknown: false
+        bicycle: false
+        motorcycle: false
+        pedestrian: false
+
       # ---------- advanced parameters ----------
       avoidance_execution_lateral_threshold: 0.499