chore(autoware_launch): minor fix with trajectory_follower param (aut…

…owarefoundation#167) Signed-off-by: Takayuki Murooka <[email protected]>
keiota · Feb 6, 2023 · 8c8581a · 8c8581a
1 parent ab005ac
commit 8c8581a
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diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -1,6 +1,5 @@
 /**:
   ros__parameters:
-
     # -- system --
     traj_resample_dist: 0.1         # path resampling interval [m]
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)

diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -72,15 +72,3 @@
     lpf_pitch_gain: 0.95
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1
-
-    # vehicle parameters
-    vehicle:
-      cg_to_front_m: 1.228
-      cg_to_rear_m: 1.5618
-      mass_kg: 2400.0
-      mass_fl: 600.0
-      mass_fr: 600.0
-      mass_rl: 600.0
-      mass_rr: 600.0
-      cf: 155494.663
-      cr: 155494.663