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feat: use obstacle_cruise_planner by default #682

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feat: use obstacle_cruise_planner by default #682

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6 changes: 3 additions & 3 deletions autoware_launch/config/planning/preset/default_preset.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -97,9 +97,9 @@ launch:

- arg:
name: motion_stop_planner_type
default: obstacle_stop_planner
# option: obstacle_stop_planner
# obstacle_cruise_planner
default: obstacle_cruise_planner
# option: obstacle_cruise_planner
# obstacle_stop_planner
# none

- arg:
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2 changes: 1 addition & 1 deletion ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Expand Up @@ -12,7 +12,7 @@
idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
safe_distance_margin : 6.0 # This is also used as a stop margin [m]
safe_distance_margin : 5.0 # This is also used as a stop margin [m]
terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
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