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feat(obstacle_cruise_planner): add parameters for a new feature #581

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merged 7 commits into from
Sep 25, 2023
Merged

feat(obstacle_cruise_planner): add parameters for a new feature #581

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34b8e6c
feat: add parameters for the feature "cosider-current-ego-pose"
yuki-takagi-66 Sep 14, 2023
ecd8511
change description of the parameters
yuki-takagi-66 Sep 14, 2023
e66977f
set to use obstacle_cruise_planner in order to execute validator
yuki-takagi-66 Sep 20, 2023
f8371a1
set to use obstacle_cruise
yuki-takagi-66 Sep 21, 2023
f962620
exp2: use cruise, expansion false
yuki-takagi-66 Sep 21, 2023
55daa3c
set the params to be merged.
yuki-takagi-66 Sep 21, 2023
01aa831
Merge branch 'main' into feat/obstacle-cruise/cosider-current-ego-pos…
yuki-takagi-66 Sep 21, 2023
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7 changes: 7 additions & 0 deletions ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Expand Up @@ -106,6 +106,13 @@
successive_num_to_entry_slow_down_condition: 5
successive_num_to_exit_slow_down_condition: 5

# consider the current ego pose (it is not the nearest pose on the reference trajectory)
# Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence"
# The both errors decrease with constant rates against the time.
consider_current_pose:
enable_to_consider_current_pose: true
time_to_convergence: 1.5 #[s]

cruise:
pid_based_planner:
use_velocity_limit_based_planner: true
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