obstacle_collision_checker does not run properly #2143
Labels
component:control
Vehicle control algorithms and mechanisms. (auto-assigned)
priority:high
High urgency and importance.
Milestone
Checklist
Description
While Bus ODD tests, we needed to use obstacle_collision_checker package to bring to vehicle collision awareness. If vehicle can not stop with nominal acceleration before collision, it should send emergency stop. However,
obstacle_collision_checker
failed in tests.After little investigation, we realize the parameters are returning zero. Because
search_radius
is returning zero, node can not detect anything in the lane. After some changes and removing param call back function, node run successfully.Expected behavior
If vehicle can not stop with nominal acceleration before collision, it should send emergency stop.
Actual behavior
Because params are zero, node can not detect the obstacles in the lane.
Steps to reproduce
obstacle_collision_checker
in control.launch.pyVersions
No response
Possible causes
No response
Additional context
No response
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