fix: lacking param

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Mar 7, 2025 · a767f04 · a767f04
1 parent 0b16c04
commit a767f04
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diff --git a/planning/autoware_planning_validator/config/planning_validator.param.yaml b/planning/autoware_planning_validator/config/planning_validator.param.yaml
@@ -27,7 +27,7 @@
       velocity_deviation: 100.0
       distance_deviation: 100.0
       longitudinal_distance_deviation: 1.0
-      nominal_latency: 0.5
+      nominal_latency: 0.1
 
     parameters:
       # The required trajectory length is calculated as the distance needed

diff --git a/planning/autoware_planning_validator/test/src/test_parameter.hpp b/planning/autoware_planning_validator/test/src/test_parameter.hpp
@@ -32,6 +32,7 @@ constexpr double THRESHOLD_STEERING_RATE = 7.0 * deg2rad;
 constexpr double THRESHOLD_VELOCITY_DEVIATION = 15.0 * kmph2mps;
 constexpr double THRESHOLD_DISTANCE_DEVIATION = 3.0;
 constexpr double THRESHOLD_LONGITUDINAL_DISTANCE_DEVIATION = 2.0;
+constexpr double THRESHOLD_NOMINAL_LATENCY = 0.1;
 constexpr double PARAMETER_FORWARD_TRAJECTORY_LENGTH_ACCELERATION = -5.0;
 constexpr double PARAMETER_FORWARD_TRAJECTORY_LENGTH_MARGIN = 2.0;
 

diff --git a/planning/autoware_planning_validator/test/src/test_planning_validator_helper.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_helper.cpp
@@ -206,6 +206,7 @@ rclcpp::NodeOptions getNodeOptionsWithDefaultParams()
     "thresholds.distance_deviation", THRESHOLD_DISTANCE_DEVIATION);
   node_options.append_parameter_override(
     "thresholds.longitudinal_distance_deviation", THRESHOLD_LONGITUDINAL_DISTANCE_DEVIATION);
+  node_options.append_parameter_override("thresholds.nominal_latency", THRESHOLD_NOMINAL_LATENCY);
   node_options.append_parameter_override(
     "parameters.forward_trajectory_length_acceleration",
     PARAMETER_FORWARD_TRAJECTORY_LENGTH_ACCELERATION);