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increase max dist threshold for geom pullout
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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planning/behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp

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@@ -284,7 +284,8 @@ bool GeometricParallelParking::planPullOut(
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const double yaw_diff = std::abs(tier4_autoware_utils::normalizeRadian(
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tf2::getYaw(road_path_first_pose.orientation) - tf2::getYaw(arc_path_last_pose.orientation)));
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const double distance = calcDistance2d(road_path_first_pose, arc_path_last_pose);
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if (yaw_diff > tier4_autoware_utils::deg2rad(5.0) || distance > 0.1) {
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constexpr double max_distance_to_centerline = 0.3;
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if (yaw_diff > tier4_autoware_utils::deg2rad(5.0) || distance > max_distance_to_centerline) {
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continue;
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}
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