feat(vehicle_cmd_gate): improve debug marker activation (#659)

* feat(vehicle_cmd_gate): add filter activated threshold Signed-off-by: 1222-takeshi <[email protected]> * feat: update parameter Signed-off-by: 1222-takeshi <[email protected]> * feat: add condition for filtering marker Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]>
autowarefoundation · Nov 1, 2023 · 2255356 · 2255356
1 parent b868eae
commit 2255356
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -6,6 +6,8 @@
     check_external_emergency_heartbeat: false
     use_start_request: false
     enable_cmd_limit_filter: true
+    filter_activated_count_threshold: 5
+    filter_activated_velocity_threshold: 1.0
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4