From 8db3bea5bd3147ae5f16f89c8871aff02f110783 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Fri, 29 Sep 2023 15:49:03 +0300 Subject: [PATCH] feat(vehicle_cmd_gate): add the keep stopped if steering is not converged parameters Signed-off-by: Berkay Karaman --- .../config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 7ad685217f..552ce7a42a 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -14,6 +14,8 @@ moderate_stop_service_acceleration: -1.5 stopped_state_entry_duration_time: 0.1 stop_check_duration: 1.0 + enable_keep_steering_until_convergence: true + steering_convergence_threshold: 0.01 # [rad] nominal: vel_lim: 25.0 reference_speed_points: [20.0, 30.0]