From deda1f9039bec2e3a549d352c23a359592f76e17 Mon Sep 17 00:00:00 2001
From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Date: Mon, 9 Sep 2024 10:52:54 +0900
Subject: [PATCH] chore: tune ppc param

---
 .../aichallenge_submit_launch/launch/reference.launch.xml   | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml b/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml
index 4302157b..c05027dc 100644
--- a/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml
+++ b/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml
@@ -204,10 +204,10 @@
   </group>
 
   <node pkg="simple_pure_pursuit" exec="simple_pure_pursuit" name="simple_pure_pursuit_node" output="screen">
-    <param name="use_external_target_vel" value="true"/>
+    <param name="use_external_target_vel" value="false"/>
     <param name="external_target_vel" value="8.0"/>
-    <param name="lookahead_gain" value="0.3"/>
-    <param name="lookahead_min_distance" value="4.0"/>
+    <param name="lookahead_gain" value="0.5"/>
+    <param name="lookahead_min_distance" value="3.0"/>
     <param name="speed_proportional_gain" value="1.0"/>
 
     <remap from="input/kinematics" to="/localization/kinematic_state"/>