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feat(autoware_launch): add predicted_path_checker package (#385)
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Signed-off-by: Berkay Karaman <[email protected]>
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brkay54 authored Oct 1, 2023
1 parent 206d439 commit 901a044
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/**:
ros__parameters:
# Node
update_rate: 10.0
delay_time: 0.17
max_deceleration: 1.5
resample_interval: 0.5
stop_margin: 0.5 # [m]
ego_nearest_dist_threshold: 3.0 # [m]
ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]
min_trajectory_check_length: 1.5 # [m]
trajectory_check_time: 3.0
distinct_point_distance_threshold: 0.3
distinct_point_yaw_threshold: 5.0 # [deg]
filtering_distance_threshold: 1.5 # [m]
use_object_prediction: true

collision_checker_params:
width_margin: 0.2
chattering_threshold: 0.2
z_axis_filtering_buffer: 0.3
enable_z_axis_obstacle_filtering: false
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<arg name="longitudinal_controller_mode" default="pid"/>
<arg name="use_individual_control_param" default="false"/>
<arg name="enable_autonomous_emergency_braking" default="false"/>
<arg name="enable_predicted_path_checker" default="false"/>

<let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
<let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
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<arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
<arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
<arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
<arg name="enable_predicted_path_checker" value="$(var enable_predicted_path_checker)"/>
<arg name="predicted_path_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/predicted_path_checker/predicted_path_checker.param.yaml"/>
</include>
</launch>

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