update

Signed-off-by: Yuki Takagi <[email protected]>
autowarefoundation · May 28, 2024 · 5e606fc · 5e606fc
1 parent 3d6814e
commit 5e606fc
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/obstacle_cruise_planner/src/planner_interface.cpp b/planning/obstacle_cruise_planner/src/planner_interface.cpp
@@ -393,7 +393,7 @@ std::vector<TrajectoryPoint> PlannerInterface::generateStopTrajectory(
                                motion_utils::calcSignedArcLength(
                                  planner_data.traj_points, 0, planner_data.ego_pose.position) +
                                  determined_stop_obstacle->dist_to_collide_on_decimated_traj +
-                                 determined_desired_margin.value();
+                                 determined_desired_margin.value() + 0.1;
     const auto stop_speed_exceeded_msg =
       createStopSpeedExceededMsg(planner_data.current_time, will_over_run);
     stop_speed_exceeded_pub_->publish(stop_speed_exceeded_msg);