From 2517d15802ecb267f9453e926b1e86d341acbd6b Mon Sep 17 00:00:00 2001
From: AV-Security <15216639952@163.com>
Date: Fri, 21 Jul 2023 10:07:48 +0800
Subject: [PATCH] Add new a hyper parameter to enable or disable the avoidance
 in the last section

---
 op_local_planner/launch/op_common_params.launch                | 3 ++-
 .../nodes/op_behavior_selector/op_behavior_selector_core.cpp   | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/op_local_planner/launch/op_common_params.launch b/op_local_planner/launch/op_common_params.launch
index eae84276..a1550f1c 100644
--- a/op_local_planner/launch/op_common_params.launch
+++ b/op_local_planner/launch/op_common_params.launch
@@ -29,7 +29,7 @@
 	<arg name="enableTrafficLightBehavior" 	default="false" />
 	<arg name="enableStopSignBehavior" 		default="false" />	
 	<arg name="enableLaneChange" 			default="false" />	
-	
+	<arg name="enableFinalLocalPathUpdate" 	default="true" />	
 	<!-- Vehicle Info, shared with controller and simulation -->
 	<arg name="height" 						default="1.47"  />
 	<arg name="front_length"				default="1.0"  />
@@ -92,6 +92,7 @@
 		<param name="enableTrafficLightBehavior" value="$(arg enableTrafficLightBehavior)" />
 		<param name="enableStopSignBehavior" 	value="$(arg enableStopSignBehavior)" />	
 		<param name="enableLaneChange" 			value="$(arg enableLaneChange)" />
+		<param name="enableFinalLocalPathUpdate" value="$(arg enableFinalLocalPathUpdate)" />
 		
 		<param name="height" 					value="$(arg height)"  />		
 		<param name="front_length" 				value="$(arg front_length)"  />
diff --git a/op_local_planner/nodes/op_behavior_selector/op_behavior_selector_core.cpp b/op_local_planner/nodes/op_behavior_selector/op_behavior_selector_core.cpp
index d73a3ef8..5a7bd678 100644
--- a/op_local_planner/nodes/op_behavior_selector/op_behavior_selector_core.cpp
+++ b/op_local_planner/nodes/op_behavior_selector/op_behavior_selector_core.cpp
@@ -135,7 +135,7 @@ void BehaviorGen::UpdatePlanningParams(ros::NodeHandle& _nh)
 
 	_nh.getParam("/op_common_params/horizontalSafetyDistance", m_PlanningParams.horizontalSafetyDistancel);
 	_nh.getParam("/op_common_params/verticalSafetyDistance", m_PlanningParams.verticalSafetyDistance);
-
+  	_nh.getParam("/op_common_params/enableFinalLocalPathUpdate", m_PlanningParams.enableFinalLocalPathUpdate);
 	_nh.getParam("/op_common_params/enableLaneChange", m_PlanningParams.enableLaneChange);
 
 	_nh.getParam("/op_common_params/front_length", m_CarInfo.front_length);