Update collision_monitor settings

raspimouse_navigation/params/raspimouse.yaml

@@ -217,15 +217,16 @@ behavior_server:
 collision_monitor:
   ros__parameters:
     enable_stamped_cmd_vel: True
-    transform_tolerance: 0.1
-    source_timeout: 5.0
-    stop_pub_timeout: 2.0
-    base_shift_correction: False
-    polygons: ["DummyPolygon"]
-    DummyPolygon:
-      type: "circle"
-      radius: 0.0  # valid range of dummy
-      action_type: "none"  # No action taken.
+    stop_pub_timeout: 1.0
+    polygons: ["SlowdownPolygon"]
+    SlowdownPolygon:
+      type: "polygon"
+      points: "[[0.1, 0.09], [0.1, -0.09], [-0.1, -0.09], [-0.1, 0.09]]"
+      action_type: "slowdown"
+      slowdown_ratio: 0.5  # 本来の速度の半分に制限
+      min_points: 10
+      visualize: True
+      polygon_pub_topic: "slowdown_polygon"
     observation_sources: ["scan"]
     scan:
       type: "scan"