feat(planning_launch): add parameter for hunting prevention (#427)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Aug 3, 2022 · cefe374 · cefe374
1 parent d128f28
commit cefe374
Showing 1 changed file with 2 additions and 0 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
@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    hunting_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for hunting_threshold [s]
+
     stop_planner:
       stop_margin: 5.0 # stop margin distance from obstacle on the path [m]
       min_behavior_stop_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m]