hoge

Signed-off-by: Takayuki Murooka <takayuki.murooka@tier4.jp>

Author: takayuki5168

autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -2,7 +2,7 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
-    use_emergency_handling: false
+    use_emergency_handling: true
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
     use_start_request: false
     enable_cmd_limit_filter: true

autoware_launch/config/planning/preset/default_preset.yaml

@@ -100,7 +100,7 @@ launch:
 
   - arg:
       name: motion_stop_planner_type
-      default: obstacle_stop_planner
+      default: obstacle_cruise_planner
       # option: obstacle_stop_planner
       #         obstacle_cruise_planner
       #         none

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml

@@ -12,7 +12,7 @@
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
       min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
-      safe_distance_margin : 6.0 # This is also used as a stop margin [m]
+      safe_distance_margin : 5.0 # This is also used as a stop margin [m]
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]

autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml

@@ -7,7 +7,7 @@
     timeout_takeover_request: 10.0
     use_takeover_request: false
     use_parking_after_stopped: false
-    use_comfortable_stop: false
+    use_comfortable_stop: true
 
     # setting whether to turn hazard lamp on for each situation
     turning_hazard_on: