feat: add config variable to override parking space length

configs/config.defaults.yaml

@@ -135,12 +135,15 @@ overtake:
   range_threshold: 4.0  # meters
 
 parking:
-  max_speed: 3
-  min_barrier_distance: -1.0  # meters
+  available_space:
+    static: true
+    static_value: 4.5  # meters
+  max_speed: 3.0  # km/h
+  min_barrier_distance: 0.0  # meters
   min_distance: 2.0  # meters
   angle_tolerance: 7  # degrees
   straight_angle_margin: 3  # degrees
-  start_steering_offset: 0.0  # meters
+  start_steering_offset: -0.2  # meters
 
 crosswalk:
   lost_frames: 10

src/utils/parking.py

@@ -43,7 +43,7 @@ def park(self) -> None:
         self.__wait_until_opening()
         self.__wait_until_wall(estimate_length=True)
 
-        available_space = np.median(self.__lengths) / 1000
+        available_space = self.__get_available_space()
         logging.info("Estimated parking space length: %.2f meters.", available_space)
 
         if available_space < config["kart"]["dimensions"]["length"]:
@@ -104,6 +104,16 @@ def __estimate_length(self) -> None:
         distance = math.sqrt(dist_front**2 + dist_back**2 - 2 * dist_front * dist_back * math.cos(angle_diff))
         self.__lengths.append(distance)
 
+    def __get_available_space(self) -> float:
+        """Get the available space in the parking spot.
+
+        :return: The available space in the parking spot.
+        """
+        if config["parking"]["available_space"]["static"]:
+            return config["parking"]["available_space"]["static_value"]
+
+        return np.median(self.__lengths) / 1000
+
     def __is_at_45_degree_angle(self) -> bool:
         """Check if the go-kart is at a 45-degree angle.
 
@@ -284,7 +294,7 @@ def __wait_until_wall(self, consecutive: int = 3, estimate_length: bool = False)
         """
         found_wall = 0
         while found_wall < consecutive:
-            if estimate_length:
+            if estimate_length and not config["parking"]["available_space"]["static"]:
                 self.__estimate_length()
 
             if self.__lidar.free_range(265, 275, 3000):