parameter update

booars · Sep 29, 2024 · d0ea652 · d0ea652
1 parent 2929c9a
commit d0ea652
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/...rkspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml b/...rkspace/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/...workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml b/...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/...enge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/...enge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
@@ -100,7 +100,7 @@
         <!-- 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 -->