From 4e7dd604cdd2a2b6d46536ec56d2f16751dbb76f Mon Sep 17 00:00:00 2001
From: tamago117 <taikibannsei2020@gmail.com>
Date: Sun, 29 Sep 2024 13:43:21 +0900
Subject: [PATCH] parameter update

---
 .../booars_launch/config/planning/costmap_generator.param.yaml  | 2 +-
 .../booars_launch/config/planning/mppi_controller.param.yaml    | 2 +-
 .../booars_launch/launch/components/planning.launch.xml         | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
index e341d1c8..283e0a7f 100644
--- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
@@ -23,4 +23,4 @@
       predicted_object_layer:
         type: "predicted_object"
         predicted_objects_topic: "/perception/object_recognition/objects"
-        distance_threshold: 1.3
+        distance_threshold: 1.2
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml
index def6c69d..35ba01cc 100644
--- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml
@@ -18,7 +18,7 @@
       Qv : 4.0
       Qo : 1000.0
       Qin : 0.01
-      Qdin : 0.5
+      Qdin : 0.0
       # model param
       delta_t : 0.1
       vehicle_L : 1.08
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
index c964c2b8..a1f3cb0c 100644
--- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
@@ -101,7 +101,7 @@
         <!-- 減速度 -->
         <param name="deceleration" value="-14.0"/>
         <!-- ピットの何メートル前で速度を0にするか -->
-        <param name="stop_offset" value="3.0"/>
+        <param name="stop_offset" value="1.5"/>
         <!-- 最高速度 -->
         <param name="max_speed" value="30.0"/>
         <!-- trajectoryの点の間隔 -->