Merge pull request autowarefoundation#582 from tier4/sync-awf-latest

chore: sync awf-latest
TomohitoAndo · Nov 29, 2022 · 24714ca · 24714ca
2 parents fb25018 + a6cd862
commit 24714ca
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Showing 2 changed files with 2 additions and 8 deletions.
diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -39,6 +39,8 @@
       num_fix_points_for_extending: 50 # number of fixing points when extending
       max_dist_for_extending_end_point: 0.0001 # minimum delta dist thres for extending last point [m]
 
+      non_fixed_trajectory_length: 5.0 # length of the trajectory merging optimized mpt trajectory to original(not optimized) trajectory
+
     object:  # avoiding object
       max_avoiding_objects_velocity_ms: 0.5 # maximum velocity for avoiding objects [m/s]
       max_avoiding_ego_velocity_ms: 6.0 # maximum ego velocity when avoiding objects [m/s]

diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
@@ -30,14 +30,6 @@
       </include>
     </group>
 
-    <!-- Component State Monitor -->
-    <group>
-      <include file="$(find-pkg-share component_state_monitor)/launch/component_state_monitor.launch.py">
-        <arg name="mode" value="$(var run_mode)"/>
-        <arg name="file" value="$(find-pkg-share component_state_monitor)/config/topics.yaml"/>
-      </include>
-    </group>
-
     <!-- Error Monitor -->
     <group>
       <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor/system_error_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>