fix: harder engage on driving (autowarefoundation#415)

* fix(autoware_launch): strict engage-on-driving condition Signed-off-by: Takayuki Murooka <[email protected]> * update some parameters Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
badai-nguyen · Sep 17, 2023 · 4ca689f · 4ca689f
1 parent be1a905
commit 4ca689f
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/...ig/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/...ig/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
@@ -1,22 +1,22 @@
 /**:
   ros__parameters:
-    transition_timeout: 10.0
+    transition_timeout: 6.0
     frequency_hz: 10.0
-    check_engage_condition: false # set false if you do not want to care about the engage condition.
+    check_engage_condition: true # set false if you do not want to care about the engage condition.
     nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
     nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
     engage_acceptable_limits:
       allow_autonomous_in_stopped: true  # no check if the velocity is zero, always allowed.
-      dist_threshold: 1.5
+      dist_threshold: 0.5
       yaw_threshold: 0.524
       speed_upper_threshold: 10.0
       speed_lower_threshold: -10.0
       acc_threshold: 1.5
       lateral_acc_threshold: 1.0
       lateral_acc_diff_threshold: 0.5
     stable_check:
-      duration: 0.1
-      dist_threshold: 1.5
+      duration: 3.0
+      dist_threshold: 0.5
       speed_upper_threshold: 2.0
       speed_lower_threshold: -2.0
       yaw_threshold: 0.262