update ros param for .iv (autowarefoundation#353)

* update ros param for .iv * forward fixing mpt time: 3.0->1.0
badai-nguyen · Aug 26, 2021 · f7f341a · f7f341a
1 parent 0549b36
commit f7f341a
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -65,7 +65,8 @@
     # trajectory param for mpt
     num_curvature_sampling_points: 5 # number of sampling points when calculating curvature
     delta_arc_length_for_mpt_points: 0.5 # delta arc length when generating mpt[m]
-    forward_fixing_mpt_distance: 10 # number of fixing points around ego vehicle
+    forward_fixing_mpt_min_distance: 10 # number of fixing points around ego vehicle
+    forward_fixing_mpt_time: 1.0 # forward fixing time with current velocity [s]
 
     # optimization param for mpt
     is_hard_fixing_terminal_point: false # hard fixing terminal point