From 6d87b51b2a841cb606a8f094a40888a0e1eea4ae Mon Sep 17 00:00:00 2001
From: Daniel Sanchez <danielsanchezaran@gmail.com>
Date: Mon, 18 Mar 2024 14:17:17 +0900
Subject: [PATCH] move slow down params to a clear location
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
---
.../config/obstacle_cruise_planner.param.yaml | 2 ++
.../include/obstacle_cruise_planner/common_structs.hpp | 9 +++++----
2 files changed, 7 insertions(+), 4 deletions(-)
diff --git a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml
index 22245e060b2ef..5b634823302c0 100644
--- a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml
+++ b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml
@@ -16,6 +16,8 @@
terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
+ slow_down_min_acc: -1.0 # slow down min deceleration [m/ss]
+ slow_down_min_jerk: -1.0 # slow down min jerk [m/sss]
nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp
index 92c3a850b3989..052e7bb721592 100644
--- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp
+++ b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp
@@ -177,8 +177,8 @@ struct LongitudinalInfo
limit_min_accel = node.declare_parameter<double>("limit.min_acc");
limit_max_jerk = node.declare_parameter<double>("limit.max_jerk");
limit_min_jerk = node.declare_parameter<double>("limit.min_jerk");
- slow_down_min_accel = node.declare_parameter<double>("slow_down.min_acc");
- slow_down_min_jerk = node.declare_parameter<double>("slow_down.min_jerk");
+ slow_down_min_accel = node.declare_parameter<double>("common.slow_down_min_acc");
+ slow_down_min_jerk = node.declare_parameter<double>("common.slow_down_min_jerk");
idling_time = node.declare_parameter<double>("common.idling_time");
min_ego_accel_for_rss = node.declare_parameter<double>("common.min_ego_accel_for_rss");
@@ -205,8 +205,9 @@ struct LongitudinalInfo
tier4_autoware_utils::updateParam<double>(parameters, "limit.max_jerk", limit_max_jerk);
tier4_autoware_utils::updateParam<double>(parameters, "limit.min_jerk", limit_min_jerk);
tier4_autoware_utils::updateParam<double>(
- parameters, "slow_down.min_accel", slow_down_min_accel);
- tier4_autoware_utils::updateParam<double>(parameters, "slow_down.min_jerk", slow_down_min_jerk);
+ parameters, "common.slow_down_min_accel", slow_down_min_accel);
+ tier4_autoware_utils::updateParam<double>(
+ parameters, "common.slow_down_min_jerk", slow_down_min_jerk);
tier4_autoware_utils::updateParam<double>(parameters, "common.idling_time", idling_time);
tier4_autoware_utils::updateParam<double>(