From cbe4ed8763f6c33dff67e91ebeb5bd4e6250f5b6 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 6 Oct 2023 13:54:04 +0900 Subject: [PATCH] feat(obstacle_cruise_planner): obstacle type dependent slow down for obstacle cruise planner param change (#621) * set obstacle type dependant params Signed-off-by: Daniel Sanchez * Set obstacle cruise planner as default to test changes Signed-off-by: Daniel Sanchez * Change back testing parameters to default Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner.param.yaml | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index cb4d6a68c5..ddea1a9b56 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -179,10 +179,13 @@ slow_down: # parameters to calculate slow down velocity by linear interpolation - min_lat_margin: 0.2 - max_lat_margin: 1.0 - min_ego_velocity: 2.0 - max_ego_velocity: 8.0 + labels: + - "default" + default: + min_lat_margin: 0.2 + max_lat_margin: 1.0 + min_ego_velocity: 2.0 + max_ego_velocity: 8.0 time_margin_on_target_velocity: 1.5 # [s]