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feat(surround_obstacle_checker): make parameters more tunable (autowa…
…refoundation#4925) * feat(surround_obstacle_checker): make parameters more tunable Signed-off-by: Takayuki Murooka <[email protected]> * update Signed-off-by: Takayuki Murooka <[email protected]> * update param Signed-off-by: Takayuki Murooka <[email protected]> * update Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
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planning/surround_obstacle_checker/config/surround_obstacle_checker.param.yaml
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Original file line number | Diff line number | Diff line change |
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@@ -1,12 +1,61 @@ | ||
/**: | ||
ros__parameters: | ||
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# obstacle check | ||
use_pointcloud: true # use pointcloud as obstacle check | ||
use_dynamic_object: true # use dynamic object as obstacle check | ||
surround_check_distance: 0.5 # if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m] | ||
surround_check_recover_distance: 0.8 # if no object exists in this distance, transit to "non-surrounding-obstacle" status [m] | ||
# surround_check_*_distance: if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m] | ||
# surround_check_hysteresis_distance: if no object exists in this hysteresis distance added to the above distance, transit to "non-surrounding-obstacle" status [m] | ||
pointcloud: | ||
enable_check: false | ||
surround_check_front_distance: 0.5 | ||
surround_check_side_distance: 0.5 | ||
surround_check_back_distance: 0.5 | ||
unknown: | ||
enable_check: true | ||
surround_check_front_distance: 0.5 | ||
surround_check_side_distance: 0.5 | ||
surround_check_back_distance: 0.5 | ||
car: | ||
enable_check: true | ||
surround_check_front_distance: 0.5 | ||
surround_check_side_distance: 0.0 | ||
surround_check_back_distance: 0.5 | ||
truck: | ||
enable_check: true | ||
surround_check_front_distance: 0.5 | ||
surround_check_side_distance: 0.0 | ||
surround_check_back_distance: 0.5 | ||
bus: | ||
enable_check: true | ||
surround_check_front_distance: 0.5 | ||
surround_check_side_distance: 0.0 | ||
surround_check_back_distance: 0.5 | ||
trailer: | ||
enable_check: true | ||
surround_check_front_distance: 0.5 | ||
surround_check_side_distance: 0.0 | ||
surround_check_back_distance: 0.5 | ||
motorcycle: | ||
enable_check: true | ||
surround_check_front_distance: 0.5 | ||
surround_check_side_distance: 0.0 | ||
surround_check_back_distance: 0.5 | ||
bicycle: | ||
enable_check: true | ||
surround_check_front_distance: 0.5 | ||
surround_check_side_distance: 0.5 | ||
surround_check_back_distance: 0.5 | ||
pedestrian: | ||
enable_check: true | ||
surround_check_front_distance: 0.5 | ||
surround_check_side_distance: 0.5 | ||
surround_check_back_distance: 0.5 | ||
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surround_check_hysteresis_distance: 0.3 | ||
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state_clear_time: 2.0 | ||
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# ego stop state | ||
stop_state_ego_speed: 0.1 #[m/s] | ||
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# debug | ||
publish_debug_footprints: true # publish vehicle footprint & footprints with surround_check_distance and surround_check_recover_distance offsets | ||
debug_footprint_label: "car" |
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