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fix: the stopping speed judgments of freespace_planner and mission_planner #7859

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fix: the stopping speed judgments of freespace_planner and mission_planner #7859

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2351ecb
fix:the stopping speed judgments of freespace_planner and mission_pla…
Try110 Jul 5, 2024
84ca05e
Merge branch 'main' into main
Try110 Jul 5, 2024
0e9dc27
style(pre-commit): autofix
pre-commit-ci[bot] Jul 5, 2024
b757354
Merge branch 'main' into main
Try110 Jul 5, 2024
901b6f2
Update planning/autoware_freespace_planner/src/autoware_freespace_pla…
Try110 Dec 17, 2024
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2 changes: 1 addition & 1 deletion planning/autoware_freespace_planner/config/freespace_planner.param.yaml
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Expand Up @@ -6,7 +6,7 @@
update_rate: 10.0
th_arrived_distance_m: 1.0
th_stopped_time_sec: 1.0
th_stopped_velocity_mps: 0.01
th_stopped_velocity_mps: 0.001
th_course_out_distance_m: 1.0
vehicle_shape_margin_m: 1.0
replan_when_obstacle_found: true
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5 changes: 4 additions & 1 deletion ...ning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp
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Expand Up @@ -208,7 +208,10 @@ bool isStopped(
const std::deque<Odometry::ConstSharedPtr> & odom_buffer, const double th_stopped_velocity_mps)
{
for (const auto & odom : odom_buffer) {
if (std::abs(odom->twist.twist.linear.x) > th_stopped_velocity_mps) {
double x = odom->twist.twist.linear.x;
double y = odom->twist.twist.linear.y;
double z = odom->twist.twist.linear.z;
if (std::abs(x * x + y * y + z * z) > th_stopped_velocity_mps * th_stopped_velocity_mps) {
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return false;
}
}
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