fix(control_launch): add parameter of entry condition for STOPPED STA…

…TE (#283)
tier4 · Apr 21, 2022 · 8fc641a · 8fc641a
1 parent 7c33edd
commit 8fc641a
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diff --git a/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml
@@ -11,6 +11,7 @@
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
     stopping_state_stop_dist: 0.5
+    stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1
     emergency_state_overshoot_stop_dist: 1.5

diff --git a/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -5,6 +5,7 @@
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4
+    stopped_state_entry_duration_time: 0.1
     vel_lim: 25.0
     lon_acc_lim: 5.0
     lon_jerk_lim: 5.0