From 1ded9c3a75b99082c410b931225ca64e14272814 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 12 Dec 2024 20:04:16 +0900 Subject: [PATCH] feat(MRM_handler, MRM_emergency_stop_operator): revert mrm_stop parameter, enable mrm_comfortable_stop (#1265) Signed-off-by: yuki-takagi-66 --- .../mrm_emergency_stop_operator.param.yaml | 4 ++-- .../config/system/mrm_handler/mrm_handler.param.yaml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml index 4d576457f2..1ee2699a23 100644 --- a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml +++ b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: update_rate: 30 - target_acceleration: -3.0 - target_jerk: -3.0 + target_acceleration: -2.5 + target_jerk: -1.5 diff --git a/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml index e82ee36a78..2370259cbe 100644 --- a/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml +++ b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml @@ -10,7 +10,7 @@ timeout_emergency_recovery: 5.0 use_parking_after_stopped: false use_pull_over: false - use_comfortable_stop: false + use_comfortable_stop: true # setting whether to turn hazard lamp on for each situation turning_hazard_on: