Fix/emergency acc (autowarefoundation#102)

* Fix emergency acc and jerk Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Fix acc and jerk limit at longitudinal_controller Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
TomohitoAndo · Mar 2, 2022 · 44df2e5 · 44df2e5
1 parent d406976
commit 44df2e5
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml
@@ -54,16 +54,16 @@
 
     # emergency state
     emergency_vel: 0.0
-    emergency_acc: -5.0
-    emergency_jerk: -3.0
+    emergency_acc: -2.5
+    emergency_jerk: -1.5
 
     # acceleration limit
-    max_acc: 3.0
-    min_acc: -5.0
+    max_acc: 1.0
+    min_acc: -2.5
 
     # jerk limit
     max_jerk: 2.0
-    min_jerk: -5.0
+    min_jerk: -3.0
 
     # pitch
     use_trajectory_for_pitch_calculation: false