feat(obstacle_cruise)!: ignore to garze against low height unknwon objects #1319
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…ts (autowarefoundation#7177) Signed-off-by: Yuki Takagi <[email protected]> Co-authored-by: Takayuki Murooka <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
yuki-takagi-66
requested review from
kosuke55,
satoshi-ota and
takayuki5168
as code owners
yuki-takagi-66
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Description
https://tier4.atlassian.net/browse/RT1-6541
への対応PRです。
max_lat_margin_against_unknown_height_thresholdより高さが低いunknwon objectについては、egoの横幅からmax_lat_margin_against_unknown以内の物体に対してのみ停止判断を行います。
max_lat_margin_against_unknown: -0.3mですと、干渉幅が0.3m以下の物体に対しては停止判断を行いません。
https://github.com/tier4/autoware_launch.x2/pull/667
Tests performed
universe main側のpsimで要求仕様通りの動作をすることは確認しました。
x2 v3.0.0 でビルドできることまでは確認しましたが、psimでの確認はしていません。
それ以上の設計や評価は行っておりません。
Effects on system behavior
Not applicable.
Interface changes
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