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chore: sync awf-latest #334

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merged 3 commits into from
Mar 6, 2024
Merged

chore: sync awf-latest #334

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2b6e6d6
feat: set the max velocity to 15km/h (#763)
takayuki5168 Mar 6, 2024
46c08e2
feat: enable autonomous emergency braking (#764)
takayuki5168 Mar 6, 2024
b9858d9
feat: switch to obstacle_cruise_planner (#765)
takayuki5168 Mar 6, 2024
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2 changes: 1 addition & 1 deletion autoware_launch/config/planning/preset/default_preset.yaml
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Expand Up @@ -100,7 +100,7 @@ launch:

- arg:
name: motion_stop_planner_type
default: obstacle_stop_planner
default: obstacle_cruise_planner
# option: obstacle_stop_planner
# obstacle_cruise_planner
# none
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2 changes: 1 addition & 1 deletion autoware_launch/config/planning/scenario_planning/common/common.param.yaml
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@@ -1,6 +1,6 @@
/**:
ros__parameters:
max_vel: 11.1 # max velocity limit [m/s]
max_velocity: 4.17 # max velocity limit [m/s]

# constraints param for normal driving
normal:
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2 changes: 1 addition & 1 deletion autoware_launch/launch/components/tier4_control_component.launch.xml
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Expand Up @@ -4,7 +4,7 @@
<arg name="lateral_controller_mode" default="mpc"/>
<arg name="longitudinal_controller_mode" default="pid"/>
<arg name="use_individual_control_param" default="false"/>
<arg name="enable_autonomous_emergency_braking" default="false"/>
<arg name="enable_autonomous_emergency_braking" default="true"/>
<arg name="enable_predicted_path_checker" default="false"/>

<let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
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