From 1b20277e972363283a766e4fc61718c661295c9c Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Thu, 1 Feb 2024 16:14:27 +0900 Subject: [PATCH] restore Signed-off-by: Yuki Takagi --- .../control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 4 ++-- .../obstacle_stop_planner.param.yaml | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index a05b29fe7e..54c87f45b6 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -2,9 +2,9 @@ ros__parameters: update_rate: 10.0 system_emergency_heartbeat_timeout: 0.5 - use_emergency_handling: $(var use_emergency_handling) + use_emergency_handling: false check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat) - use_start_request: $(var use_start_request) + use_start_request: false enable_cmd_limit_filter: true filter_activated_count_threshold: 5 filter_activated_velocity_threshold: 1.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index 99d63dec0d..8e215a1bcf 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -1,9 +1,9 @@ /**: ros__parameters: - chattering_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for chattering_threshold [s] - lowpass_gain: 0.9 # gain parameter for low pass filter [-] - max_velocity: 20.0 # max velocity [m/s] - enable_slow_down: $(var enable_slow_down) # whether to use slow down planner [-] + chattering_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for chattering_threshold [s] + lowpass_gain: 0.9 # gain parameter for low pass filter [-] + max_velocity: 20.0 # max velocity [m/s] + enable_slow_down: False # whether to use slow down planner [-] enable_z_axis_obstacle_filtering: True # filter obstacles in z axis (height) [-] z_axis_filtering_buffer: 0.0 # additional buffer for z axis filtering [m] voxel_grid_x: 0.05 # voxel grid x parameter for filtering pointcloud [m]