update motion_velocity_smoother (#256)

planning_launch/config/scenario_planning/common/common.param.yaml

@@ -2,8 +2,8 @@
   ros__parameters:
     # constraints param for normal driving
     normal:
-      min_acc: -0.1         # min deceleration [m/ss]
-      max_acc: 0.1          # max acceleration [m/ss]
+      min_acc: -0.2         # min deceleration [m/ss]
+      max_acc: 0.5          # max acceleration [m/ss]
       min_jerk: -0.5        # min jerk [m/sss]
       max_jerk: 1.0         # max jerk [m/sss]
 

planning_launch/config/scenario_planning/common/motion_velocity_smoother/L2.param.yaml

@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
-    pseudo_jerk_weight: 100.0 # weight for "smoothness" cost
+    pseudo_jerk_weight: 10.0 # weight for "smoothness" cost
     over_v_weight: 100000.0   # weight for "over speed limit" cost
     over_a_weight: 1000.0     # weight for "over accel limit" cost

planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml

@@ -7,10 +7,10 @@
     margin_to_insert_external_velocity_limit: 0.3   #  margin distance to insert external velocity limit [m]
 
     # curve parameters
-    max_lateral_accel: 0.25            # max lateral acceleration limit [m/ss]
+    max_lateral_accel: 0.4            # max lateral acceleration limit [m/ss]
     min_curve_velocity: 0.5            # min velocity at lateral acceleration limit [m/ss]
-    decel_distance_before_curve: 10.0  # slow speed distance before a curve for lateral acceleration limit
-    decel_distance_after_curve: 3.0    # slow speed distance after a curve for lateral acceleration limit
+    decel_distance_before_curve: 2.0  # slow speed distance before a curve for lateral acceleration limit
+    decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit
 
     # engage & replan parameters
     replan_vel_deviation: 1.0          # velocity deviation to replan initial velocity [m/s]

planning_launch/launch/scenario_planning/scenario_planning.launch.xml

@@ -23,7 +23,7 @@
       <arg name="param_path" value="$(var param_path)"/>
     </include>
     <!-- motion velocity smoother -->
-    <arg name="smoother_type" default="Linf" />
+    <arg name="smoother_type" default="L2" />
     <set_remap from="~/input/trajectory" to="/planning/scenario_planning/scenario_selector/trajectory" />
     <set_remap from="~/output/trajectory" to="/planning/scenario_planning/trajectory" />
     <include file="$(find-pkg-share motion_velocity_smoother)/launch/motion_velocity_smoother.launch.xml">