From 27bc2d5e1259822284ce911a6a27b738866c93e1 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Wed, 20 Sep 2023 13:53:22 +0900 Subject: [PATCH] feat(vehicle_cmd_gate): add steering angle and rate filter Signed-off-by: Takamasa Horibe --- .../control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) 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 index 92844c61f6..191e894622 100644 --- 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 @@ -15,6 +15,8 @@ nominal: vel_lim: 25.0 reference_speed_points: [20.0, 30.0] + steer_lim: [1.0, 0.8] + steer_rate_lim: [1.0, 0.8] lon_acc_lim: [5.0, 4.0] lon_jerk_lim: [5.0, 4.0] lat_acc_lim: [5.0, 4.0] @@ -23,6 +25,8 @@ on_transition: vel_lim: 50.0 reference_speed_points: [20.0, 30.0] + steer_lim: [1.0, 0.8] + steer_rate_lim: [1.0, 0.8] lon_acc_lim: [1.0, 0.9] lon_jerk_lim: [0.5, 0.4] lat_acc_lim: [2.0, 1.8]