fix(static_obstacle_avoidance): lower lateral soft margin to handle d…

…ense urban scenarios Signed-off-by: Ahmed Ebrahim <ahmed.ebrahim@leodrive.ai>
autowarefoundation · Sep 9, 2024 · 9ef7c4e · 9ef7c4e
1 parent 7fd9736
commit 9ef7c4e
Showing 1 changed file with 6 additions and 6 deletions.
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
@@ -23,7 +23,7 @@
           th_moving_time: 2.0                           # [s]
           longitudinal_margin: 0.0                      # [m]
           lateral_margin:
-            soft_margin: 0.7                            # [m]
+            soft_margin: 0.5                            # [m]
             hard_margin: 0.2                            # [m]
             hard_margin_for_parked_vehicle: 0.2         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
@@ -34,7 +34,7 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: 0.2
             hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
@@ -45,7 +45,7 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: 0.2
             hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
@@ -56,7 +56,7 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: 0.2
             hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
@@ -67,7 +67,7 @@
           th_moving_time: 1.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: -0.2
             hard_margin_for_parked_vehicle: -0.2
           max_expand_ratio: 0.0
@@ -89,7 +89,7 @@
           th_moving_time: 1.0
           longitudinal_margin: 1.0
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: 0.3
             hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0