chore: sync awf/autoware_launch (autowarefoundation#820)

feat(obstacle_stop_planner): add margin behind goal (#228) Signed-off-by: kosuke55 <[email protected]> Co-authored-by: Kosuke Takeuchi <[email protected]>
tier4 · Feb 28, 2023 · c47af32 · c47af32
1 parent 3c6a8ef
commit c47af32
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -15,9 +15,10 @@
     stop_planner:
       # params for stop position
       stop_position:
-        max_longitudinal_margin: 5.0         # stop margin distance from obstacle on the path [m]
-        min_longitudinal_margin: 5.0         # stop margin distance when any other stop point is inserted in stop margin [m]
-        hold_stop_margin_distance: 0.0       # the ego keeps stopping if the ego is in this margin [m]
+        max_longitudinal_margin: 5.0             # stop margin distance from obstacle on the path [m]
+        max_longitudinal_margin_behind_goal: 3.0 # stop margin distance from obstacle behind goal on the path [m]
+        min_longitudinal_margin: 5.0             # stop margin distance when any other stop point is inserted in stop margin [m]
+        hold_stop_margin_distance: 0.0           # the ego keeps stopping if the ego is in this margin [m]
 
       # params for detection area
       detection_area: