From 984704eebfc326d568845c8dab6b3826121157a4 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 27 Jul 2023 21:59:44 +0900 Subject: [PATCH] chore(operation_mode_transition_manager): change param to enable engage on large lateral deviation (#576) Signed-off-by: Takamasa Horibe --- .../operation_mode_transition_manager.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml index f3361554d6..f619d717fb 100644 --- a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml +++ b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml @@ -2,14 +2,14 @@ /**: ros__parameters: - transition_timeout: 6.0 + transition_timeout: 8.0 frequency_hz: 10.0 check_engage_condition: true # set false if you do not want to care about the engage condition. nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index engage_acceptable_limits: allow_autonomous_in_stopped: true # no check if the velocity is zero, always allowed. - dist_threshold: 0.5 + dist_threshold: 1.5 yaw_threshold: 0.524 speed_upper_threshold: 10.0 speed_lower_threshold: -10.0