From 235a2d58c05858388a45955f536d03ecfa594ba5 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 7 Sep 2023 13:01:45 +0900 Subject: [PATCH] feat(operation_transition_mannager): add param enable_engage_on_driving (#553) Signed-off-by: Takamasa Horibe --- .../operation_mode_transition_manager.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml index a86443f5ca..a4e8ab2c83 100644 --- a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml +++ b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml @@ -2,6 +2,10 @@ ros__parameters: transition_timeout: 10.0 frequency_hz: 10.0 + + # set true if you want to engage the autonomous driving mode while the vehicle is driving. If set to false, it will deny Engage in any situation where the vehicle speed is not zero. Note that if you use this feature without adjusting the parameters, it may cause issues like sudden deceleration. Before using, please ensure the engage condition and the vehicle_cmd_gate transition filter are appropriately adjusted. + enable_engage_on_driving: false + check_engage_condition: false # set false if you do not want to care about the engage condition. nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index