From a462edfecf2b6d84ce2d3318c6495208d50d165e Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 11 Apr 2023 17:15:40 +0900 Subject: [PATCH] fix(behavior_path_planner): pull over deceleration (#273) Signed-off-by: kosuke55 --- .../behavior_path_planner/pull_over/pull_over.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index ca1eb740be..83a548bb46 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: pull_over: - request_length: 100.0 + minimum_request_length: 100.0 th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 2.0 # It must be greater than the state_machine's. @@ -9,7 +9,8 @@ pull_over_minimum_velocity: 1.38 margin_from_boundary: 0.5 decide_path_distance: 10.0 - maximum_deceleration: 0.5 + maximum_deceleration: 1.0 + maximum_jerk: 1.0 # goal research enable_goal_research: true search_priority: "efficient_path" # "efficient_path" or "close_goal"