debug

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

autoware_launch/config/planning/preset/default_preset.yaml

@@ -5,7 +5,7 @@ launch:
       default: "true"
   - arg:
       name: launch_avoidance_by_lane_change_module
-      default: "true"
+      default: "true" #?
   - arg:
       name: launch_dynamic_avoidance_module
       default: "true"
@@ -70,7 +70,7 @@ launch:
       default: "false"
   - arg:
       name: launch_run_out_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_speed_bump_module
       default: "false"

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml

@@ -2,7 +2,7 @@
   ros__parameters:
     dynamic_avoidance:
       common:
-        enable_debug_info: false
+        enable_debug_info: true
         use_hatched_road_markings: true
 
       # avoidance is performed for the object type with true
@@ -19,8 +19,8 @@
         max_obstacle_vel: 100.0 # [m/s]
         min_obstacle_vel: 0.0 # [m/s]
 
-        successive_num_to_entry_dynamic_avoidance_condition: 5
-        successive_num_to_exit_dynamic_avoidance_condition: 1
+        successive_num_to_entry_dynamic_avoidance_condition: 1
+        successive_num_to_exit_dynamic_avoidance_condition: 0
 
         min_obj_lat_offset_to_ego_path: 0.0 # [m]
         max_obj_lat_offset_to_ego_path: 1.0 # [m]