feat(planning_launch): update smoother resampling parameter (#530)

Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com>
autowarefoundation · Oct 27, 2022 · 436d30c · 436d30c
1 parent 5e0e4be
commit 436d30c
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/...fig/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/...fig/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -32,8 +32,8 @@
     # resampling parameters for optimization
     max_trajectory_length: 200.0        # max trajectory length for resampling [m]
     min_trajectory_length: 150.0        # min trajectory length for resampling [m]
-    resample_time: 5.0                  # resample total time for dense sampling [s]
-    dense_resample_dt: 0.1              # resample time interval for dense sampling [s]
+    resample_time: 2.0                  # resample total time for dense sampling [s]
+    dense_resample_dt: 0.2              # resample time interval for dense sampling [s]
     dense_min_interval_distance: 0.1    # minimum points-interval length for dense sampling [m]
     sparse_resample_dt: 0.5             # resample time interval for sparse sampling [s]
     sparse_min_interval_distance: 4.0   # minimum points-interval length for sparse sampling [m]