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feat(autoware_launch): dynamic timeout for no intention to walk decis…
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…ion in crosswalk (autowarefoundation#610)

* feat(autoware_launch): dynamic timeout for no intention to walk decision in crosswalk

Signed-off-by: Takayuki Murooka <[email protected]>

* update config

Signed-off-by: Takayuki Murooka <[email protected]>

* revert a parg of config

Signed-off-by: Takayuki Murooka <[email protected]>

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Signed-off-by: Takayuki Murooka <[email protected]>
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takayuki5168 authored Oct 3, 2023
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Expand Up @@ -54,7 +54,9 @@
## param for yielding
disable_stop_for_yield_cancel: false # for the crosswalk where there is a traffic signal
disable_yield_for_new_stopped_object: false # for the crosswalk where there is a traffic signal
timeout_no_intention_to_walk: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
# if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s]
timeout_ego_stop_for_yield: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not

# param for target object filtering
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