From f3a8bafd7b720cdcc798b544745811af8627fea7 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 19 Dec 2022 20:45:34 +0900 Subject: [PATCH] feat(operation_mode_transition_manager): add parameter about nearest search (#623) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura --- .../operation_mode_transition_manager.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml index a0ddef6e36..a86443f5ca 100644 --- a/control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml +++ b/control_launch/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