From 233f48a476830556e3bab07d8f584b0527981b2e Mon Sep 17 00:00:00 2001
From: hrjp <hrjp00@gmail.com>
Date: Wed, 18 Sep 2024 23:26:40 +0900
Subject: [PATCH] =?UTF-8?q?param=20file=E3=82=92booars=5Flaunch=E3=81=AB?=
 =?UTF-8?q?=E7=A7=BB=E8=A1=8C?=
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---
 .../launch/aichallenge_submit.launch.xml      |  2 +-
 .../config/planning/goal_pose.param.yaml      | 31 +++++++++++++++++++
 .../launch/components/planning.launch.xml     |  4 +++
 3 files changed, 36 insertions(+), 1 deletion(-)
 create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml

diff --git a/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml b/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml
index 510f861c..0590fef3 100644
--- a/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml
+++ b/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml
@@ -5,6 +5,6 @@
 
   <!-- place a goal pose anywhere you like-->
   <node pkg="goal_pose_setter" exec="goal_pose_setter_node" name="goal_pose_setter" output="screen">
-    <param from="$(find-pkg-share goal_pose_setter)/config/default_goal_pose.param.yaml" />
+    <param from="$(find-pkg-share booars_launch)/config/planning/goal_pose.param.yaml" />
   </node>
 </launch>
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml
new file mode 100644
index 00000000..6b8c29d8
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml
@@ -0,0 +1,31 @@
+/**:
+  ros__parameters:
+    goal.position.x: 89653.7
+    goal.position.y: 43122.5
+    goal.position.z: 0.0
+    goal.orientation.x: 0.0
+    goal.orientation.y: 0.0
+    goal.orientation.z: -0.971732
+    goal.orientation.w: 0.236088
+
+    half_goal.position.x: 89657.0
+    half_goal.position.y: 43175.0
+    half_goal.position.z: -28.0
+    half_goal.orientation.x: 0.0
+    half_goal.orientation.y: 0.0
+    half_goal.orientation.z: -0.9
+    half_goal.orientation.w: 0.25
+
+    pit_goal.position.x: 89626.3671875
+    pit_goal.position.y: 43134.921875
+    pit_goal.position.z: 42.10000228881836
+    pit_goal.orientation.x: 0.0
+    pit_goal.orientation.y: 0.0
+    pit_goal.orientation.z: -0.8788172006607056
+    pit_goal.orientation.w: -0.47715866565704346
+    # ゴールまでの距離がこの値以下になると次のゴールを配信する
+    goal_range: 10.0
+    # ピットインを有効化するか
+    enable_pit: true
+    # このしきい値以下になるとピットイン
+    pit_in_threshold: 1000
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
index 58933c24..0de0e48e 100644
--- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
@@ -97,9 +97,13 @@
       <node pkg="path_to_trajectory" exec="path_to_trajectory_node" name="path_to_trajectory" output="screen">
         <remap from="input" to="/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id"/>
         <remap from="output" to="/planning/scenario_planning/trajectory"/>
+        <!-- 減速度 -->
         <param name="deceleration" value="-10.0"/>
+        <!-- ピットの何メートル前で速度を0にするか -->
         <param name="stop_offset" value="3.0"/>
+        <!-- 最高速度 -->
         <param name="max_speed" value="30.0"/>
+        <!-- trajecotryの点の間隔 -->
         <param name="traj_width" value="1.0"/>
       </node>