add stop dist param (autowarefoundation#73)

* add stop dist param * add keep stopping dist param
tkimura4 · Dec 10, 2021 · ac21c12 · ac21c12
1 parent 41dfa4b
commit ac21c12
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/launch/control_launch/config/velocity_controller/velocity_controller_param.yaml b/launch/control_launch/config/velocity_controller/velocity_controller_param.yaml
@@ -7,6 +7,7 @@ stop_state_velocity: 0.0
 stop_state_acc: -3.4
 stop_state_entry_ego_speed: 0.2
 stop_state_entry_target_speed: 0.1
+stop_state_keep_stopping_dist: 0.5
 
 # delay compensation
 delay_compensation_time: 0.17
@@ -17,6 +18,7 @@ emergency_stop_jerk: -3.0
 
 # smooth stop
 smooth_stop:
+  stop_dist: 3.0
   exit_ego_speed: 1.0
   entry_ego_speed: 0.8
   exit_target_speed: 1.0