feat(operation_mode_transition_manager): add parameter about nearest …

…search (autowarefoundation#623) Signed-off-by: tomoya.kimura <[email protected]> Signed-off-by: tomoya.kimura <[email protected]>
TomohitoAndo · Dec 19, 2022 · f3a8baf · f3a8baf
1 parent 1fa7838
commit f3a8baf
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/...nch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/...nch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
@@ -3,6 +3,8 @@
     transition_timeout: 10.0
     frequency_hz: 10.0
     check_engage_condition: false # set false if you do not want to care about the engage condition.
+    nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
+    nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
     engage_acceptable_limits:
       allow_autonomous_in_stopped: true  # no check if the velocity is zero, always allowed.
       dist_threshold: 1.5