From a9d62421b91ae354b2b5b60a20b4fd89bf61e560 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Wed, 3 Aug 2022 13:24:39 +0900 Subject: [PATCH] feat(planning_launch): add parameter for hunting prevention Signed-off-by: satoshi-ota --- .../obstacle_stop_planner/obstacle_stop_planner.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index c708e819b..36421cf37 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/planning_launch/config/scenario_planning/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]