From 1bda3c3ece036506bfeff8efdcef5937d27bac70 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 11 Jul 2024 13:06:59 +0900 Subject: [PATCH] feat(motion_velocity_smoother): force slow driving (#899) * add parameter for force slow driving Signed-off-by: Go Sakayori * fix Signed-off-by: Go Sakayori * modify comment Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori --- .../autoware_velocity_smoother/velocity_smoother.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml index ff97ae8dfb..2370036f98 100644 --- a/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml @@ -60,3 +60,7 @@ over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point plan_from_ego_speed_on_manual_mode: true # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging. + + # force slow driving from stopping state + force_slow_driving: + velocity: 1.39 # velocity in slow driving mode [m/s]