fix(trajectory_follower): change stop check speed threshold to 0

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
autowarefoundation · Mar 3, 2022 · 7b60421 · 7b60421
1 parent 1bab84e
commit 7b60421
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Showing 2 changed files with 4 additions and 5 deletions.
diff --git a/control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml b/control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml
@@ -55,8 +55,8 @@
     error_deriv_lpf_cutoff_hz: 5.0
 
     # stop state
-    stop_state_entry_ego_speed: 0.2
-    stop_state_entry_target_speed: 0.5
+    stop_state_entry_ego_speed: 0.0
+    stop_state_entry_target_speed: 0.0
 
     # vehicle parameters
     mass_kg: 2400.0
@@ -66,4 +66,3 @@
     mass_rr: 600.0
     cf: 155494.663
     cr: 155494.663
-
diff --git a/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml b/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml
@@ -55,8 +55,8 @@
     error_deriv_lpf_cutoff_hz: 5.0
 
     # stop state
-    stop_state_entry_ego_speed: 0.2
-    stop_state_entry_target_speed: 0.5
+    stop_state_entry_ego_speed: 0.0
+    stop_state_entry_target_speed: 0.0
 
     # vehicle parameters
     vehicle: