feat(obstacle_cruise_planner): obstacle type dependent slow down for …

…obstacle cruise planner param change (#621) * set obstacle type dependant params Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Set obstacle cruise planner as default to test changes Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Change back testing parameters to default Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>
autowarefoundation · Oct 6, 2023 · cbe4ed8 · cbe4ed8
1 parent fd15eb8
commit cbe4ed8
Showing 1 changed file with 7 additions and 4 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -179,10 +179,13 @@
 
     slow_down:
       # parameters to calculate slow down velocity by linear interpolation
-      min_lat_margin: 0.2
-      max_lat_margin: 1.0
-      min_ego_velocity: 2.0
-      max_ego_velocity: 8.0
+      labels:
+        - "default"
+      default:
+        min_lat_margin: 0.2
+        max_lat_margin: 1.0
+        min_ego_velocity: 2.0
+        max_ego_velocity: 8.0
 
       time_margin_on_target_velocity: 1.5 # [s]