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fix(predicted_path_checker): temp change for predicted_path_checker #609

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fix(predicted_path_checker): temp change for predicted_path_checker #609

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3c04d18
predicted_path_checker
kyoichi-sugahara Oct 1, 2023
ab1628e
temp change
kyoichi-sugahara Oct 1, 2023
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22 changes: 22 additions & 0 deletions autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
/**:
ros__parameters:
# Node
update_rate: 10.0
delay_time: 0.17
max_deceleration: 1.5
resample_interval: 0.5
stop_margin: 0.5 # [m]
ego_nearest_dist_threshold: 3.0 # [m]
ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]
min_trajectory_check_length: 1.5 # [m]
trajectory_check_time: 3.0
distinct_point_distance_threshold: 0.3
distinct_point_yaw_threshold: 5.0 # [deg]
filtering_distance_threshold: 1.5 # [m]
use_object_prediction: true

collision_checker_params:
width_margin: 0.2
chattering_threshold: 0.2
z_axis_filtering_buffer: 0.3
enable_z_axis_obstacle_filtering: false
2 changes: 2 additions & 0 deletions autoware_launch/launch/components/tier4_control_component.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
<arg name="longitudinal_controller_mode" default="pid"/>
<arg name="use_individual_control_param" default="false"/>
<arg name="enable_autonomous_emergency_braking" default="false"/>
<arg name="enable_enable_predicted_path_checker" default="false"/>

<let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
<let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
Expand All @@ -26,6 +27,7 @@
<arg name="lateral_controller_mode" value="$(var lateral_controller_mode)"/>
<arg name="longitudinal_controller_mode" value="$(var longitudinal_controller_mode)"/>
<arg name="check_external_emergency_heartbeat" value="$(var check_external_emergency_heartbeat)"/>
<arg name="predicted_path_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/predicted_path_checker/predicted_path_checker.param.yaml"/>

<!-- common param path -->
<arg name="nearest_search_param_path" value="$(find-pkg-share autoware_launch)/config/control/common/nearest_search.param.yaml"/>
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