add update_rate as a configurable parameter (!92) · Merge requests · Autoware Foundation / MovedToGitHub / core_planning · GitLab

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Ian Colwell requested to merge astuff/autoware.ai/core_planning:upstream/pure_pursuit_add_update_rate into master May 25, 2020

Currently, the update rate of pure_pursuit for ctrl_cmd and twist_cmd are hard-coded at 30 Hz. It should be configurable as other related packages such as twist_filter.
If in near future our pacmod can handle higher update rate, we also need to make it configurable.

See astuff/autoware.ai/core_planning!28 (merged) for more details.