update tier4_planning_launch

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Apr 25, 2022 · b6ce8c6 · b6ce8c6
1 parent 31e1c39
commit b6ce8c6
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -123,6 +123,8 @@
           eps_rel: 1.0e-10 # eps rel when solving OSQP
 
       mpt:
+        bounds_search_widths: [0.45, 0.15, 0.05, 0.01]
+
         clearance:  # clearance(distance) between vehicle and roads/objects when generating trajectory
           hard_clearance_from_road: 0.0 # clearance from road boundary[m]
           soft_clearance_from_road: 0.1 # clearance from road boundary[m]