fix(static_obstacle_avoidance): lower max prep time to handle dense u…

…rban scenarios Signed-off-by: Ahmed Ebrahim <ahmed.ebrahim@leodrive.ai>
autowarefoundation · Sep 9, 2024 · 7fd9736 · 7fd9736
1 parent 2ca86eb
commit 7fd9736
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -232,7 +232,7 @@
         # avoidance distance parameters
         longitudinal:
           min_prepare_time: 1.0                         # [s]
-          max_prepare_time: 3.0                         # [s]
+          max_prepare_time: 2.0                         # [s]
           min_prepare_distance: 1.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s] FOR DEVELOPER