From 46a04ceefd566620b0224bba4a9e4c83f3dc0b20 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Wed, 13 Nov 2024 15:14:33 +0900 Subject: [PATCH] feat(costmap_generator): change lidar height thresholds to vehicle frame Signed-off-by: Maxime CLEMENT --- .../scenario_planning/common/costmap_generator.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml index 5d37138738..e31886cce6 100644 --- a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml @@ -12,8 +12,8 @@ grid_length_y: 70.0 grid_position_x: 0.0 grid_position_y: 0.0 - maximum_lidar_height_thres: 0.3 - minimum_lidar_height_thres: -2.2 + maximum_lidar_height_thres: 2.5 # [m] when use_points is true, ignore points with a z value above this (in the vehicle_frame) + minimum_lidar_height_thres: 0.0 # [m] when use_points is true, ignore points with a z value bellow this (in the vehicle_frame) use_wayarea: true use_parkinglot: true use_objects: true