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 <[email protected]> * change default parameter Signed-off-by: Takamasa Horibe <[email protected]>
autowarefoundation · Mar 23, 2022 · 007487a · 007487a
1 parent 4bd241b
commit 007487a
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git 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
@@ -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: