feat(motion_velocity_smoother): use common max_vel (#6388)

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Feb 14, 2024 · 7d8ee41 · 7d8ee41
1 parent 78eea31
commit 7d8ee41
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Showing 7 changed files with 14 additions and 2 deletions.
diff --git a/planning/external_velocity_limit_selector/config/default_common.param.yaml b/planning/external_velocity_limit_selector/config/default_common.param.yaml
@@ -1,6 +1,8 @@
 /**:
   ros__parameters:
     # constraints param for normal driving
+    max_vel: 11.1           # max velocity limit [m/s]
+
     normal:
       min_acc: -0.5         # min deceleration [m/ss]
       max_acc: 1.0          # max acceleration [m/ss]

diff --git a/planning/motion_velocity_smoother/config/default_common.param.yaml b/planning/motion_velocity_smoother/config/default_common.param.yaml
@@ -1,6 +1,8 @@
 /**:
   ros__parameters:
     # constraints param for normal driving
+    max_vel: 11.1           # max velocity limit [m/s]
+
     normal:
       min_acc: -0.5         # min deceleration [m/ss]
       max_acc: 1.0          # max acceleration [m/ss]

diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
@@ -173,7 +173,7 @@ rcl_interfaces::msg::SetParametersResult MotionVelocitySmootherNode::onParameter
     update_param_bool("enable_lateral_acc_limit", p.enable_lateral_acc_limit);
     update_param_bool("enable_steering_rate_limit", p.enable_steering_rate_limit);
 
-    update_param("max_velocity", p.max_velocity);
+    update_param("max_vel", p.max_velocity);
     update_param(
       "margin_to_insert_external_velocity_limit", p.margin_to_insert_external_velocity_limit);
     update_param("replan_vel_deviation", p.replan_vel_deviation);
@@ -277,7 +277,7 @@ void MotionVelocitySmootherNode::initCommonParam()
   p.enable_lateral_acc_limit = declare_parameter<bool>("enable_lateral_acc_limit");
   p.enable_steering_rate_limit = declare_parameter<bool>("enable_steering_rate_limit");
 
-  p.max_velocity = declare_parameter<double>("max_velocity");  // 72.0 kmph
+  p.max_velocity = declare_parameter<double>("max_vel");
   p.margin_to_insert_external_velocity_limit =
     declare_parameter<double>("margin_to_insert_external_velocity_limit");
   p.replan_vel_deviation = declare_parameter<double>("replan_vel_deviation");

diff --git a/planning/obstacle_cruise_planner/config/default_common.param.yaml b/planning/obstacle_cruise_planner/config/default_common.param.yaml
@@ -1,6 +1,8 @@
 /**:
   ros__parameters:
     # constraints param for normal driving
+    max_vel: 11.1           # max velocity limit [m/s]
+
     normal:
       min_acc: -1.0         # min deceleration [m/ss]
       max_acc: 1.0          # max acceleration [m/ss]

diff --git a/planning/obstacle_stop_planner/config/common.param.yaml b/planning/obstacle_stop_planner/config/common.param.yaml
@@ -1,6 +1,8 @@
 /**:
   ros__parameters:
     # constraints param for normal driving
+    max_vel: 11.1           # max velocity limit [m/s]
+
     normal:
       min_acc: -0.5         # min deceleration [m/ss]
       max_acc: 1.0          # max acceleration [m/ss]

diff --git a/planning/planning_test_utils/config/test_common.param.yaml b/planning/planning_test_utils/config/test_common.param.yaml
@@ -1,6 +1,8 @@
 /**:
   ros__parameters:
     # constraints param for normal driving
+    max_vel: 11.1           # max velocity limit [m/s]
+
     normal:
       min_acc: -1.0         # min deceleration [m/ss]
       max_acc: 1.0          # max acceleration [m/ss]

diff --git a/planning/static_centerline_optimizer/config/common.param.yaml b/planning/static_centerline_optimizer/config/common.param.yaml
@@ -1,6 +1,8 @@
 /**:
   ros__parameters:
     # constraints param for normal driving
+    max_vel: 11.1           # max velocity limit [m/s]
+
     normal:
       min_acc: -0.5         # min deceleration [m/ss]
       max_acc: 1.0          # max acceleration [m/ss]