From 43ceb42a8ab64f9591229b672baf25664320d60a Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Wed, 23 Mar 2022 14:59:07 +0900 Subject: [PATCH] fix(trajectory_follower): change stop check speed threshold to almost 0 (#473) * fix(trajectory_follower): change stop check speed threshold to 0 Signed-off-by: Takamasa Horibe * change default parameter Signed-off-by: Takamasa Horibe --- .../param/lateral_controller_defaults.yaml | 6 +++--- .../trajectory_follower/lateral_controller.param.yaml | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml b/control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml index 8be4d3519d1f9..5a3f4edcd516a 100644 --- a/control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml +++ b/control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml @@ -54,9 +54,9 @@ steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 - # stop state - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 + # stop state: steering command is kept in the previous value in the stop state. + stop_state_entry_ego_speed: 0.001 + stop_state_entry_target_speed: 0.001 # vehicle parameters mass_kg: 2400.0 diff --git a/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml b/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml index e52b0e4425358..88736ec29fa3a 100644 --- a/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml +++ b/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml @@ -54,9 +54,9 @@ steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] error_deriv_lpf_cutoff_hz: 5.0 - # stop state - stop_state_entry_ego_speed: 0.2 - stop_state_entry_target_speed: 0.5 + # stop state: steering command is kept in the previous value in the stop state. + stop_state_entry_ego_speed: 0.001 + stop_state_entry_target_speed: 0.001 # vehicle parameters vehicle: