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feat(motion_velocity_smoother): add parameter for force acceleration #1010

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feat(motion_velocity_smoother): add parameter for force acceleration #1010

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5c8fadb
added parameters for motion velocity smoother
go-sakayori May 29, 2024
82e6781
add parameter to modify max lateral acceleration
go-sakayori May 30, 2024
3b46db5
neatly formatiing file
go-sakayori May 30, 2024
ebb0187
namespace for force acceleration
go-sakayori May 30, 2024
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5 changes: 5 additions & 0 deletions ...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -60,3 +60,8 @@
over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point

plan_from_ego_speed_on_manual_mode: true # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging.

# force acceleration
adjusted_max_acceleration: 2.0
adjusted_max_jerk: 5.0
adjusted_max_lateral_acceleration: 1.0
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Can you create a namespace as follows for the better readability?
These are used in other packages like obstacle_cruise_planner for example.

force_acceleration:
   adjusted_max_acc: 2.0
   adjusted_max_jerk: 5.0
   ...

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Thank you for the review. I modified it in commit ebb0187.
Used abbreviation based on your suggestion.

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