feat(pull_out): change pull out finish deviation threshold (#3917)

feat(pull_out): change pull out finish deviation threshould Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Jun 7, 2023 · 68f6f2f · 68f6f2f
1 parent 8a44d44
commit 68f6f2f
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
@@ -686,13 +686,13 @@ bool StartPlannerModule::hasFinishedPullOut() const
   // are also running at the same time.
   const double lateral_offset_to_path =
     motion_utils::calcLateralOffset(getCurrentPath().points, current_pose.position);
-  constexpr double lateral_offset_threshold = 0.5;
+  constexpr double lateral_offset_threshold = 0.2;
   if (std::abs(lateral_offset_to_path) > lateral_offset_threshold) {
     return false;
   }
   const double yaw_deviation =
     motion_utils::calcYawDeviation(getCurrentPath().points, current_pose);
-  constexpr double yaw_deviation_threshold = 0.5;
+  constexpr double yaw_deviation_threshold = 0.087;  // 5deg
   if (std::abs(yaw_deviation) > yaw_deviation_threshold) {
     return false;
   }