fix(mpc_lateral_controller): enable path smoothing (autowarefoundatio…

…n#472) hotfix(mpc_lateral_controller): enable path smoothing Signed-off-by: kminoda <[email protected]>
TomohitoAndo · Oct 4, 2023 · 25786e9 · 25786e9
1 parent 440c9f5
commit 25786e9
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: false   # flag for path smoothing
+    enable_path_smoothing: true   # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)