Add parameters for keep braking at velocity controller (autowarefound…

…ation#491) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
TomohitoAndo · Nov 9, 2021 · a776750 · a776750
1 parent 771ae77
commit a776750
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/control_launch/config/velocity_controller/velocity_controller.param.yaml b/control_launch/config/velocity_controller/velocity_controller.param.yaml
@@ -29,6 +29,8 @@
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
     current_velocity_threshold_pid_integration: 0.5
+    enable_brake_keeping_before_stop: false
+    brake_keeping_acc: -0.2
 
     # smooth stop state
     smooth_stop_max_strong_acc: -0.5