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fix(obstacle_stop_planner): delete default values (#2931)
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* delete param obstacle_stop_planner

Signed-off-by: yamazakiTasuku <tasuku.yamazaki@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: yamazakiTasuku <tasuku.yamazaki@tier4.jp>
Co-authored-by: yamazakiTasuku <tasuku.yamazaki@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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3 people authored Feb 24, 2023
1 parent 57f640a commit 99a2860
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Showing 2 changed files with 34 additions and 33 deletions.
61 changes: 31 additions & 30 deletions planning/obstacle_stop_planner/src/adaptive_cruise_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -133,56 +133,57 @@ AdaptiveCruiseController::AdaptiveCruiseController(

/* config */
param_.use_object_to_est_vel =
node_->declare_parameter(acc_ns + "use_object_to_estimate_vel", true);
param_.use_pcl_to_est_vel = node_->declare_parameter(acc_ns + "use_pcl_to_estimate_vel", true);
param_.consider_obj_velocity = node_->declare_parameter(acc_ns + "consider_obj_velocity", true);
node_->declare_parameter<bool>(acc_ns + "use_object_to_estimate_vel");
param_.use_pcl_to_est_vel = node_->declare_parameter<bool>(acc_ns + "use_pcl_to_estimate_vel");
param_.consider_obj_velocity = node_->declare_parameter<bool>(acc_ns + "consider_obj_velocity");

/* parameter for acc */
param_.obstacle_velocity_thresh_to_start_acc =
node_->declare_parameter(acc_ns + "obstacle_velocity_thresh_to_start_acc", 1.5);
node_->declare_parameter<double>(acc_ns + "obstacle_velocity_thresh_to_start_acc");
param_.obstacle_velocity_thresh_to_stop_acc =
node_->declare_parameter(acc_ns + "obstacle_velocity_thresh_to_stop_acc", 1.0);
node_->declare_parameter<double>(acc_ns + "obstacle_velocity_thresh_to_stop_acc");
param_.emergency_stop_acceleration =
node_->declare_parameter(acc_ns + "emergency_stop_acceleration", -3.5);
node_->declare_parameter<double>(acc_ns + "emergency_stop_acceleration");
param_.obstacle_emergency_stop_acceleration =
node_->declare_parameter(acc_ns + "obstacle_emergency_stop_acceleration", -5.0);
node_->declare_parameter<double>(acc_ns + "obstacle_emergency_stop_acceleration");
param_.emergency_stop_idling_time =
node_->declare_parameter(acc_ns + "emergency_stop_idling_time", 0.5);
param_.min_dist_stop = node_->declare_parameter(acc_ns + "min_dist_stop", 4.0);
node_->declare_parameter<double>(acc_ns + "emergency_stop_idling_time");
param_.min_dist_stop = node_->declare_parameter<double>(acc_ns + "min_dist_stop");
param_.max_standard_acceleration =
node_->declare_parameter(acc_ns + "max_standard_acceleration", 0.5);
node_->declare_parameter<double>(acc_ns + "max_standard_acceleration");
param_.min_standard_acceleration =
node_->declare_parameter(acc_ns + "min_standard_acceleration", -1.0);
param_.standard_idling_time = node_->declare_parameter(acc_ns + "standard_idling_time", 0.5);
param_.min_dist_standard = node_->declare_parameter(acc_ns + "min_dist_standard", 4.0);
node_->declare_parameter<double>(acc_ns + "min_standard_acceleration");
param_.standard_idling_time = node_->declare_parameter<double>(acc_ns + "standard_idling_time");
param_.min_dist_standard = node_->declare_parameter<double>(acc_ns + "min_dist_standard");
param_.obstacle_min_standard_acceleration =
node_->declare_parameter(acc_ns + "obstacle_min_standard_acceleration", -1.5);
node_->declare_parameter<double>(acc_ns + "obstacle_min_standard_acceleration");
param_.margin_rate_to_change_vel =
node_->declare_parameter(acc_ns + "margin_rate_to_change_vel", 0.3);
node_->declare_parameter<double>(acc_ns + "margin_rate_to_change_vel");
param_.use_time_compensation_to_dist =
node_->declare_parameter(acc_ns + "use_time_compensation_to_calc_distance", true);
param_.lowpass_gain_ = node_->declare_parameter(acc_ns + "lowpass_gain_of_upper_velocity", 0.6);
node_->declare_parameter<bool>(acc_ns + "use_time_compensation_to_calc_distance");
param_.lowpass_gain_ =
node_->declare_parameter<double>(acc_ns + "lowpass_gain_of_upper_velocity");

/* parameter for pid in acc */
param_.p_coeff_pos = node_->declare_parameter(acc_ns + "p_coefficient_positive", 0.1);
param_.p_coeff_neg = node_->declare_parameter(acc_ns + "p_coefficient_negative", 0.3);
param_.d_coeff_pos = node_->declare_parameter(acc_ns + "d_coefficient_positive", 0.0);
param_.d_coeff_neg = node_->declare_parameter(acc_ns + "d_coefficient_negative", 0.1);
param_.p_coeff_pos = node_->declare_parameter<double>(acc_ns + "p_coefficient_positive");
param_.p_coeff_neg = node_->declare_parameter<double>(acc_ns + "p_coefficient_negative");
param_.d_coeff_pos = node_->declare_parameter<double>(acc_ns + "d_coefficient_positive");
param_.d_coeff_neg = node_->declare_parameter<double>(acc_ns + "d_coefficient_negative");

/* parameter for speed estimation of obstacle */
param_.object_polygon_length_margin =
node_->declare_parameter(acc_ns + "object_polygon_length_margin", 2.0);
node_->declare_parameter<double>(acc_ns + "object_polygon_length_margin");
param_.object_polygon_width_margin =
node_->declare_parameter(acc_ns + "object_polygon_width_margin", 0.5);
node_->declare_parameter<double>(acc_ns + "object_polygon_width_margin");
param_.valid_est_vel_diff_time =
node_->declare_parameter(acc_ns + "valid_estimated_vel_diff_time", 1.0);
param_.valid_vel_que_time = node_->declare_parameter(acc_ns + "valid_vel_que_time", 0.5);
param_.valid_est_vel_max = node_->declare_parameter(acc_ns + "valid_estimated_vel_max", 20.0);
param_.valid_est_vel_min = node_->declare_parameter(acc_ns + "valid_estimated_vel_min", -20.0);
param_.thresh_vel_to_stop = node_->declare_parameter(acc_ns + "thresh_vel_to_stop", 0.5);
node_->declare_parameter<double>(acc_ns + "valid_estimated_vel_diff_time");
param_.valid_vel_que_time = node_->declare_parameter<double>(acc_ns + "valid_vel_que_time");
param_.valid_est_vel_max = node_->declare_parameter<double>(acc_ns + "valid_estimated_vel_max");
param_.valid_est_vel_min = node_->declare_parameter<double>(acc_ns + "valid_estimated_vel_min");
param_.thresh_vel_to_stop = node_->declare_parameter<double>(acc_ns + "thresh_vel_to_stop");
param_.use_rough_est_vel =
node_->declare_parameter(acc_ns + "use_rough_velocity_estimation", false);
param_.rough_velocity_rate = node_->declare_parameter(acc_ns + "rough_velocity_rate", 0.9);
node_->declare_parameter<bool>(acc_ns + "use_rough_velocity_estimation");
param_.rough_velocity_rate = node_->declare_parameter<double>(acc_ns + "rough_velocity_rate");

/* publisher */
pub_debug_ = node_->create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
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6 changes: 3 additions & 3 deletions planning/obstacle_stop_planner/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,9 +71,9 @@ ObstacleStopPlannerNode::ObstacleStopPlannerNode(const rclcpp::NodeOptions & nod
p.chattering_threshold = declare_parameter<double>("chattering_threshold");
p.ego_nearest_dist_threshold = declare_parameter<double>("ego_nearest_dist_threshold");
p.ego_nearest_yaw_threshold = declare_parameter<double>("ego_nearest_yaw_threshold");
p.voxel_grid_x = declare_parameter("voxel_grid_x", 0.05);
p.voxel_grid_y = declare_parameter("voxel_grid_y", 0.05);
p.voxel_grid_z = declare_parameter("voxel_grid_z", 100000.0);
p.voxel_grid_x = declare_parameter<double>("voxel_grid_x");
p.voxel_grid_y = declare_parameter<double>("voxel_grid_y");
p.voxel_grid_z = declare_parameter<double>("voxel_grid_z");
p.use_predicted_objects = declare_parameter<bool>("use_predicted_objects");
p.publish_obstacle_polygon = declare_parameter<bool>("publish_obstacle_polygon");
}
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