add expansion params

Signed-off-by: beyza <[email protected]>
beyzanurkaya · Aug 27, 2024 · 01afb9b · 01afb9b
1 parent 04970b4
commit 01afb9b
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/...are_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/...are_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
@@ -3,6 +3,7 @@
     dynamic_avoidance:
       common:
         enable_debug_info: false
+        use_lane_type: "opposite_direction_lane"
         use_hatched_road_markings: true
 
       # avoidance is performed for the object type with true
@@ -51,6 +52,7 @@
           max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value.
 
       drivable_area_generation:
+        expand_drivable_area: false 
         polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]