fix typo

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Dec 13, 2022 · d644866 · d644866
1 parent 8fa30aa
commit d644866
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/control/trajectory_follower/include/trajectory_follower/mpc_lateral_controller.hpp b/control/trajectory_follower/include/trajectory_follower/mpc_lateral_controller.hpp
@@ -97,7 +97,7 @@ class TRAJECTORY_FOLLOWER_PUBLIC MpcLateralController : public LateralController
   //!< @brief path resampling interval [m]
   double m_traj_resample_dist;
 
-  //!< @brief flag of traj extending for ternimal yaw
+  //!< @brief flag of traj extending for terminal yaw
   bool m_enable_traj_extending;
 
   /* parameters for stop state */

diff --git a/control/trajectory_follower_nodes/param/lateral_controller_defaults.param.yaml b/control/trajectory_follower_nodes/param/lateral_controller_defaults.param.yaml
@@ -13,7 +13,7 @@
     curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
 
     # -- trajectory extening --
-    enable_traj_extending: true  # flag of trajectory extending for ternimal yaw
+    enable_traj_extending: true  # flag of trajectory extending for terminal yaw
 
     # -- mpc optimization --
     qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp)

diff --git a/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml b/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml
@@ -14,7 +14,7 @@
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
 
     # -- trajectory extening --
-    enable_traj_extending: true  # flag of trajectory extending for ternimal yaw
+    enable_traj_extending: true  # flag of trajectory extending for terminal yaw
 
     # -- mpc optimization --
     qp_solver_type: "osqp"                       # optimization solver option (unconstraint_fast or osqp)