Merge pull request autowarefoundation#403 from tier4/sync-awf-latest

chore: sync awf-latest
maxime-clem · Jul 11, 2022 · 8112acf · 8112acf
2 parents 994ec4e + f9c2b64
commit 8112acf
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml
@@ -4,6 +4,7 @@
   <!-- common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="vehicle_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" description="path to the file of vehicle info yaml"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
   <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
@@ -42,6 +43,7 @@
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
       </include>
     </group>
 

diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -10,7 +10,7 @@
       stop_position_threshold: 1.0 # [m] threshold for check whether the vehicle stop in front of crosswalk
 
       # param for ego velocity
-      slow_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph)
+      min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph)
       max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake
       max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake
       no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph)