Adc

cfg/SafeCmd.cfg

@@ -39,7 +39,9 @@ gen = ParameterGenerator()
 ackermann = gen.add_group("ackermann")
 
 #       Name       Type       Reconfiguration level    Description       Default   Min   Max
-gen.add("safety_distance",           double_t, 0, "Safety distance to possible obstacles",0.5, 0.0, 2.0)
+gen.add("rate",                      double_t, 0, "Main loop rate (Hz)",  10.0,   0.1, 1000.0)
+gen.add("bypass",                    bool_t,   0, "Whether or not to bypassa the safety fwature", False)
+gen.add("safety_distance",           double_t, 0, "Safety distance to possible obstacles",0.5, 0.0, 10.0)
 gen.add("traj_sim_distance",         double_t, 0, "Distance for the trajectory computation",    1.0, 0.1, 5.0)
 gen.add("traj_sim_time",             double_t, 0, "Time for the trajectory computation",    1.0, 0.1, 5.0)
 gen.add("traj_sim_step",             double_t, 0, "Distance/Time increment for the trajectory computation",    0.1, 0.01, 0.5)