refactor(obstacle_stop_planner): add params to config

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Sep 6, 2022 · f5730b8 · f5730b8
1 parent b3f16f7
commit f5730b8
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Showing 3 changed files with 10 additions and 6 deletions.
diff --git a/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -13,7 +13,7 @@
       detection_area:
         lateral_margin: 0.0                  # margin of vehicle footprint [m]
         step_length: 1.0                     # step length for pointcloud search range [m]
-        extend_distance: 0.0                 # extend trajectory to consider after goal obstacle in the extend_distance
+        extend_distance: 0.0                 # extend trajectory to consider after goal obstacle in the extend_distance [m]
 
 
     slow_down_planner:
@@ -41,4 +41,6 @@
         jerk_start: -0.1                     # init jerk used for deceleration planning [m/sss]
 
       # others
-      consider_constraints: False            # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel
+      consider_constraints: False                 # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel [-]
+      velocity_threshold_decel_complete: 0.2      # use for judge whether the ego velocity converges the target slow down velocity [m/s]
+      acceleration_threshold_decel_complete: 0.1  # use for judge whether the ego velocity converges the target slow down velocity [m/ss]
diff --git a/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml b/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml
@@ -13,7 +13,7 @@
       detection_area:
         lateral_margin: 0.0                  # margin of vehicle footprint [m]
         step_length: 1.0                     # step length for pointcloud search range [m]
-        extend_distance: 0.0                 # extend trajectory to consider after goal obstacle in the extend_distance
+        extend_distance: 0.0                 # extend trajectory to consider after goal obstacle in the extend_distance [m]
 
 
     slow_down_planner:
@@ -41,4 +41,6 @@
         jerk_start: -0.1                     # init jerk used for deceleration planning [m/sss]
 
       # others
-      consider_constraints: False            # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel
+      consider_constraints: False                 # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel [-]
+      velocity_threshold_decel_complete: 0.2      # use for judge whether the ego velocity converges the target slow down velocity [m/s]
+      acceleration_threshold_decel_complete: 0.1  # use for judge whether the ego velocity converges the target slow down velocity [m/ss]
diff --git a/planning/obstacle_stop_planner/src/node.cpp b/planning/obstacle_stop_planner/src/node.cpp
@@ -525,9 +525,9 @@ ObstacleStopPlannerNode::ObstacleStopPlannerNode(const rclcpp::NodeOptions & nod
     p.jerk_span = declare_parameter<double>(ns + "constraints.jerk_span");
 
     p.velocity_threshold_decel_complete =
-      declare_parameter(ns + "velocity_threshold_decel_complete", 0.2);
+      declare_parameter<double>(ns + "velocity_threshold_decel_complete");
     p.acceleration_threshold_decel_complete =
-      declare_parameter(ns + "acceleration_threshold_decel_complete", 0.1);
+      declare_parameter<double>(ns + "acceleration_threshold_decel_complete");
 
     // apply offset
     p.longitudinal_forward_margin += i.max_longitudinal_offset_m;