How to set planning_horizon, why 7.5 meters?

[lida2003]

Hi

I'm confused about this param " "

How to measure 7.5 meters? If it's something to do with "Field of View", why not 170 degree from camera spec?

[bigsuperZZZX]

Maybe I didn't get the point.
What do you mean by "How to measure 7.5 meters?"

[lida2003]

@bigsuperZZZX Thanks your time.

It's the configuration parameter, which is planning_horizon. I'm NOT sure what unit it is. It's NOT degree of FOV, pobably meters???? If it's meter, then how to set the proper value for my camera?

What's the definition of planning_horizon?

ego-planner/src/planner/plan_manage/launch/simple_run.launch

Lines 38 to 39 in 0835f96

	<!--always set to 1.5 times grater than sensing horizen-->
	<arg name="planning_horizon" value="7.5" />

[bigsuperZZZX]

The unit is meter. "sensing horizon" is the distance that depth sensor can reach with acceptable accuracy.

[lida2003]

Alright, at least we can confirm that the unit is meters. Now from the code’s perspective, it should be 1.5 times a certain specification parameter. Logically, the specification parameter is 5 meters. I would like to know which parameter in the specification sheet corresponds to this 5 meters?