From 95789a2f67e0709b5c812bacc52117de241209d9 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Wed, 27 Apr 2022 15:03:01 +0900 Subject: [PATCH] fix(control_launch): revert the vehicle speed threshold for steering operation (#135) * Revert "fix(trajectory_follower): change stop check speed threshold to almost 0 (#246)" This reverts commit 0cdd76c2717de1a8920e826cf1e5f76ae3c05f7f. * Revert "fix(trajectory_follower): change stop check speed threshold to 0 (#232)" This reverts commit 3bd7d8f6648fac323714734bc10378454f67def6. Co-authored-by: Tomoya Kimura --- .../config/trajectory_follower/mpc_follower.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/control_launch/config/trajectory_follower/mpc_follower.param.yaml b/control_launch/config/trajectory_follower/mpc_follower.param.yaml index cacfd76fad3e7..0eacba8399438 100644 --- a/control_launch/config/trajectory_follower/mpc_follower.param.yaml +++ b/control_launch/config/trajectory_follower/mpc_follower.param.yaml @@ -54,9 +54,9 @@ steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 - # stop state: steering command is kept in the previous value in the stop state. - stop_state_entry_ego_speed: 0.001 - stop_state_entry_target_speed: 0.001 + # stop state + stop_state_entry_ego_speed: 0.2 + stop_state_entry_target_speed: 0.5 # vehicle parameters vehicle: