From 15564cd20d9d2f05361f8b44d16a17059a296cc7 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Wed, 14 Jun 2023 20:03:54 +0900 Subject: [PATCH] feat(velocity_smoother): plan from ego velocity on manual mode (#396) Signed-off-by: Takamasa Horibe --- .../motion_velocity_smoother.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 e600334ee2..868b1bd15c 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 @@ -56,3 +56,5 @@ # system over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point + + plan_from_ego_speed_on_manual_mode: true # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging.