From d7ed10b4553fa0b896a430a0f04d5bdd0053b663 Mon Sep 17 00:00:00 2001 From: Kazuki Matsumoto <59071591+kazuki527@users.noreply.github.com> Date: Mon, 25 Apr 2022 16:00:09 +0900 Subject: [PATCH] feat(planning_error_monitor): read params from yaml (#294) * feat(planning_error_monitor): read params from yaml * fix(planning_error_monitor): fix the parameter to paramter in universe. * fix: add units of some parameters in yaml --- .../planning_diagnostics/planning_error_monitor.param.yaml | 7 +++++++ .../planning_diagnostics/planning_error_monitor.launch.xml | 2 ++ 2 files changed, 9 insertions(+) create mode 100644 planning_launch/config/planning_diagnostics/planning_error_monitor.param.yaml diff --git a/planning_launch/config/planning_diagnostics/planning_error_monitor.param.yaml b/planning_launch/config/planning_diagnostics/planning_error_monitor.param.yaml new file mode 100644 index 0000000000..d52f24553b --- /dev/null +++ b/planning_launch/config/planning_diagnostics/planning_error_monitor.param.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + # trajectory check + error_interval: 100.0 # error interval distance threshold [m] + error_curvature: 2.0 # error curvature threshold [rad/m] + error_sharp_angle: 0.785398 # error sharp angle threshold [rad] + ignore_too_close_points: 0.01 # ignore too close distance threshold [m] diff --git a/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml b/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml index 0555cbf965..e3960f8ec0 100644 --- a/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml +++ b/planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml @@ -3,6 +3,8 @@ + +