feat(control_validator)!: add velocity check (#1050)

add param Signed-off-by: Yuki Takagi <[email protected]>
autowarefoundation · Jul 18, 2024 · dbd69d8 · dbd69d8
1 parent 29686a6
commit dbd69d8
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml
@@ -1,6 +1,5 @@
 /**:
   ros__parameters:
-
     # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
     # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if
     #  the next predicted_path is valid.)
@@ -10,3 +9,5 @@
 
     thresholds:
       max_distance_deviation: 1.0
+      max_reverse_velocity: 0.2
+      max_over_velocity_ratio: 0.1