From 89a4cec0724c297d76d0a3c8ce8ba5c63f74552a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 18 Dec 2024 00:43:36 +0900 Subject: [PATCH] feat: remove admissible_{position/yaw}_error from trajectory_follower Signed-off-by: Takayuki Murooka --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index b358e95f86..1d30a28d05 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -3,8 +3,6 @@ # -- system -- traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory # -- path smoothing --