feat(freespace_planning_algorithm): update freespace planner params - Githubissues

autowarefoundation / autoware_launch

Apache License 2.0

29 stars 261 forks source link

feat(freespace_planning_algorithm): update freespace planner params #1080

Closed mkquda closed 2 months ago

mkquda commented 2 months ago

Description

Modified parameters for freespace planner (as well as goal planner and start planner) corresponding to the changes implemented in the following PR's:

(Note: merge with or after above PR's)

Tests performed

Tested on psim.

Effects on system behavior

more configuration options for A star planner:

can configure search method (backward or forward)
can tune cost for curvature
can tune cost for smoothness
can tune cost for distance to obstacles
can configure expansion distance value, and set to adaptive

Interface changes

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

[ ] I've confirmed the contribution guidelines.
[ ] The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

[ ] The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

[ ] There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.