From 39a5cc665e0257af76420db105fddfa5cc3644f2 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 14 Feb 2024 21:32:27 +0900 Subject: [PATCH] feat: define common max_vel (#870) Signed-off-by: Takayuki Murooka --- .../config/planning/scenario_planning/common/common.param.yaml | 2 ++ .../motion_velocity_smoother.param.yaml | 1 - 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 5fd1a533ab..ac100f0ea3 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -1,5 +1,7 @@ /**: ros__parameters: + max_vel: 9.72 # max velocity limit [m/s] + # constraints param for normal driving normal: min_acc: -1.0 # min deceleration [m/ss] diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 96be6b05cb..2c7cf8bab8 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -1,7 +1,6 @@ /**: ros__parameters: # motion state constraints - max_velocity: 9.72 # max velocity limit [m/s] stop_decel: 0.0 # deceleration at a stop point[m/ss] # external velocity limit parameter