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refactor(obstacle_cruise_planner): move slow down params to a clear location #6644

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Mar 18, 2024
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refactor(obstacle_cruise_planner): move slow down params to a clear location #6644

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2 changes: 2 additions & 0 deletions planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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9 changes: 5 additions & 4 deletions planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp
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Expand Up @@ -177,8 +177,8 @@
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");
Expand All @@ -205,8 +205,9 @@
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);

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tier4_autoware_utils::updateParam<double>(
parameters, "common.slow_down_min_jerk", slow_down_min_jerk);

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tier4_autoware_utils::updateParam<double>(parameters, "common.idling_time", idling_time);
tier4_autoware_utils::updateParam<double>(
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