feat(autoware_motion_velocity_obstacle_slow_down_module): params for …

…obstacle stop and slow down modules (#1330) * fix Signed-off-by: Arjun Jagdish Ram <[email protected]> * style(pre-commit): autofix * fix Signed-off-by: Arjun Jagdish Ram <[email protected]> --------- Signed-off-by: Arjun Jagdish Ram <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Feb 25, 2025 · 740164d · 740164d
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diff --git a/...anning/lane_driving/motion_planning/motion_velocity_planner/obstacle_slow_down.param.yaml b/...anning/lane_driving/motion_planning/motion_velocity_planner/obstacle_slow_down.param.yaml
@@ -42,6 +42,14 @@
           pedestrian: true
           pointcloud: false
 
+        pointcloud:
+          pointcloud_voxel_grid_x: 0.05
+          pointcloud_voxel_grid_y: 0.05
+          pointcloud_voxel_grid_z: 100000.0
+          pointcloud_cluster_tolerance: 1.0
+          pointcloud_min_cluster_size: 1
+          pointcloud_max_cluster_size: 100000
+
         min_lat_margin: 0.0  # lateral margin between obstacle and trajectory band with ego's width to avoid the conflict with the obstacle_stop
         max_lat_margin: 1.1  # lateral margin between obstacle and trajectory band with ego's width
         lat_hysteresis_margin: 0.2

diff --git a/...io_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_stop.param.yaml b/...io_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_stop.param.yaml
@@ -54,6 +54,14 @@
             bicycle: false
             pedestrian: false
 
+        pointcloud:
+          pointcloud_voxel_grid_x: 0.05
+          pointcloud_voxel_grid_y: 0.05
+          pointcloud_voxel_grid_z: 100000.0
+          pointcloud_cluster_tolerance: 1.0
+          pointcloud_min_cluster_size: 1
+          pointcloud_max_cluster_size: 100000
+
         # hysteresis for velocity
         obstacle_velocity_threshold_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
         obstacle_velocity_threshold_from_stop : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]