From 1876ef2c7dac31accf6d2d6c1165af9ecde798b8 Mon Sep 17 00:00:00 2001 From: JuliusMiller Date: Tue, 19 Mar 2024 17:32:50 +0100 Subject: [PATCH] fix: adjust parameter --- code/planning/src/local_planner/motion_planning.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/code/planning/src/local_planner/motion_planning.py b/code/planning/src/local_planner/motion_planning.py index 82b777d0..77d1be11 100755 --- a/code/planning/src/local_planner/motion_planning.py +++ b/code/planning/src/local_planner/motion_planning.py @@ -33,7 +33,7 @@ class MotionPlanning(CompatibleNode): def __init__(self): super(MotionPlanning, self).__init__('MotionPlanning') self.role_name = self.get_param("role_name", "hero") - self.control_loop_rate = self.get_param("control_loop_rate", 0.1) + self.control_loop_rate = self.get_param("control_loop_rate", 0.05) self.target_speed = 0.0 self.__curr_behavior = None @@ -530,9 +530,9 @@ def __calc_virtual_change_point(self) -> float: def __calc_virtual_stopline(self) -> float: if self.__stopline[0] != np.inf and self.__stopline[1]: stopline = self.__stopline[0] - if self.traffic_light_y_distance < 220 and stopline > 10: + if self.traffic_light_y_distance < 250 and stopline > 10: return 10 - elif self.traffic_light_y_distance < 170 and stopline > 7: + elif self.traffic_light_y_distance < 180 and stopline > 7: return 0.0 else: return stopline