feat(motion_velocity_smoother): change max_lateral_accel from 0.8 to 1.0 #2057
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Signed-off-by: Maxime CLEMENT <[email protected]>
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takayuki5168
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Oct 13, 2022
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Following discussions with @TakaHoribe and @tkimura4 I am reopening this PR. |
Codecov ReportBase: 10.41% // Head: 10.41% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2057 +/- ##
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- Coverage 10.41% 10.41% -0.01%
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Files 1170 1170
Lines 83574 83574
Branches 19581 19581
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- Hits 8705 8704 -1
Misses 65364 65364
- Partials 9505 9506 +1
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@TakaHoribe @tkimura4 Could you approve if this PR is okay for you. |
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Oct 25, 2022
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…1.0 (autowarefoundation#2057) Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: Kotaro Yoshimoto <[email protected]>
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Signed-off-by: Maxime CLEMENT [email protected]
Description
This PR increases the value of the
max_lateral_accelparameter in themotion_velocity_smoothernode. allowing to drive at higher velocities in curves.The current value of
0.8m/s² is very conservative to avoid situations where the ego vehicle would drive too fast when close to some obstacles (e.g., guard rail) in curves. This PR changes the value to1.0m/s².A new node (#1579) can be used to limit the velocity when driving near obstacles.
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