feat(velocity_smoother): plan from ego velocity on manual mode (#396)

Signed-off-by: Takamasa Horibe <[email protected]>
tier4 · Jun 20, 2023 · de5aaa4 · de5aaa4
1 parent 659afc2
commit de5aaa4
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -56,3 +56,5 @@
 
     # system
     over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point
+
+    plan_from_ego_speed_on_manual_mode: true  # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging.