Merge pull request autowarefoundation#341 from tier4/sync-upstream

chore: sync upstream
soblin · Oct 31, 2022 · 992133a · 992133a
2 parents 0619e52 + f1a75af
commit 992133a
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Showing 3 changed files with 2 additions and 4 deletions.
diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
@@ -324,7 +324,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "shift_decider_param_path",
         [
             FindPackageShare("control_launch"),
-            "/config/shift_decider/shift_decider_param.param.yaml",
+            "/config/shift_decider/shift_decider.param.yaml",
         ],
         "path to the parameter file of shift_decider",
     )

diff --git a/control_launch/launch/control.launch.xml b/control_launch/launch/control.launch.xml
@@ -7,7 +7,6 @@
   <arg name="lateral_controller_mode" description="options for lateral_controller_mode: mpc_follower, pure_pursuit"/>
   <arg name="lat_controller_param_path" default="$(find-pkg-share control_launch)/config/trajectory_follower/$(env VEHICLE_ID default)/lateral_controller.param.yaml"/>
   <arg name="lon_controller_param_path" default="$(find-pkg-share control_launch)/config/trajectory_follower/$(env VEHICLE_ID default)/longitudinal_controller.param.yaml"/>
-  <arg name="latlon_muxer_param_path" default="$(find-pkg-share control_launch)/config/trajectory_follower/latlon_muxer.param.yaml"/>
   <arg name="vehicle_cmd_gate_param_path" default="$(find-pkg-share control_launch)/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml"/>
   <arg name="operation_mode_transition_manager_param_path" default="$(find-pkg-share control_launch)/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml"/>
   <arg name="shift_decider_param_path" default="$(find-pkg-share control_launch)/config/shift_decider/shift_decider.param.yaml"/>
@@ -17,7 +16,6 @@
     <arg name="lateral_controller_mode" value="$(var lateral_controller_mode)" />
     <arg name="lat_controller_param_path" value="$(var lat_controller_param_path)"/>
     <arg name="lon_controller_param_path" value="$(var lon_controller_param_path)"/>
-    <arg name="latlon_muxer_param_path" value="$(var latlon_muxer_param_path)"/>
     <arg name="vehicle_cmd_gate_param_path" value="$(var vehicle_cmd_gate_param_path)"/>
     <arg name="operation_mode_transition_manager_param_path" value="$(var operation_mode_transition_manager_param_path)"/>
     <arg name="shift_decider_param_path" value="$(var shift_decider_param_path)"/>

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
@@ -8,7 +8,7 @@
     margin_to_insert_external_velocity_limit: 0.3   #  margin distance to insert external velocity limit [m]
 
     # curve parameters
-    max_lateral_accel: 0.8             # max lateral acceleration limit [m/ss]
+    max_lateral_accel: 1.0             # max lateral acceleration limit [m/ss]
     min_curve_velocity: 2.74           # min velocity at lateral acceleration limit [m/ss]
     decel_distance_before_curve: 3.5   # slow speed distance before a curve for lateral acceleration limit
     decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit