From a77675093b18419740fbb10a4df12591456a8c5b Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Wed, 10 Nov 2021 08:17:49 +0900 Subject: [PATCH] Add parameters for keep braking at velocity controller (#491) Signed-off-by: Makoto Kurihara --- .../config/velocity_controller/velocity_controller.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/control_launch/config/velocity_controller/velocity_controller.param.yaml b/control_launch/config/velocity_controller/velocity_controller.param.yaml index f9a2f02b58abb..4d77edbb8ab9f 100644 --- 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