feat(trajectory_follower): keep stop until the steering control is do…

…ne (#1672) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Aug 29, 2022 · 3cae6ec · 3cae6ec
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Showing 6 changed files with 6 additions and 6 deletions.
diff --git a/control/trajectory_follower_nodes/design/lateral_controller-design.md b/control/trajectory_follower_nodes/design/lateral_controller-design.md
@@ -66,7 +66,7 @@ AutonomouStuff Lexus RX 450h for under 40 km/h driving.
 | stop_state_entry_ego_speed <sup>\*1</sup>    | double | threshold value of the ego vehicle speed used to the stop state entry condition                                                                   | 0.0           |
 | stop_state_entry_target_speed <sup>\*1</sup> | double | threshold value of the target speed used to the stop state entry condition                                                                        | 0.0           |
 | converged_steer_rad                          | double | threshold value of the steer convergence                                                                                                          | 0.1           |
-| keep_steer_control_until_converged           | bool   | keep steer control until steer is converged                                                                                                       | false         |
+| keep_steer_control_until_converged           | bool   | keep steer control until steer is converged                                                                                                       | true          |
 | new_traj_duration_time                       | double | threshold value of the time to be considered as new trajectory                                                                                    | 1.0           |
 | new_traj_end_dist                            | double | threshold value of the distance between trajectory ends to be considered as new trajectory                                                        | 0.3           |
 

diff --git a/control/trajectory_follower_nodes/design/longitudinal_controller-design.md b/control/trajectory_follower_nodes/design/longitudinal_controller-design.md
@@ -154,7 +154,7 @@ AutonomouStuff Lexus RX 450h for under 40 km/h driving.
 | enable_large_tracking_error_emergency       | bool   | flag to enable transition to EMERGENCY when the closest trajectory point search is failed due to a large deviation between trajectory and ego pose.                                     | true          |
 | enable_slope_compensation                   | bool   | flag to modify output acceleration for slope compensation. The source of the slope angle can be selected from ego-pose or trajectory angle. See `use_trajectory_for_pitch_calculation`. | true          |
 | enable_brake_keeping_before_stop            | bool   | flag to keep a certain acceleration during DRIVE state before the ego stops. See [Brake keeping](#brake-keeping).                                                                       | false         |
-| enable_keep_stopped_until_steer_convergence | bool   | flag to keep stopped condition until until the steer converges.                                                                                                                         | false         |
+| enable_keep_stopped_until_steer_convergence | bool   | flag to keep stopped condition until until the steer converges.                                                                                                                         | true          |
 | max_acc                                     | double | max value of output acceleration [m/s^2]                                                                                                                                                | 3.0           |
 | min_acc                                     | double | min value of output acceleration [m/s^2]                                                                                                                                                | -5.0          |
 | max_jerk                                    | double | max value of jerk of output acceleration [m/s^3]                                                                                                                                        | 2.0           |

diff --git a/control/trajectory_follower_nodes/param/lateral_controller_defaults.param.yaml b/control/trajectory_follower_nodes/param/lateral_controller_defaults.param.yaml
@@ -56,7 +56,7 @@
     stop_state_entry_ego_speed: 0.001
     stop_state_entry_target_speed: 0.001
     converged_steer_rad: 0.1
-    keep_steer_control_until_converged: false
+    keep_steer_control_until_converged: true
     new_traj_duration_time: 1.0
     new_traj_end_dist: 0.3
 

diff --git a/control/trajectory_follower_nodes/param/longitudinal_controller_defaults.param.yaml b/control/trajectory_follower_nodes/param/longitudinal_controller_defaults.param.yaml
@@ -6,7 +6,7 @@
     enable_overshoot_emergency: true
     enable_large_tracking_error_emergency: true
     enable_slope_compensation: false
-    enable_keep_stopped_until_steer_convergence: false
+    enable_keep_stopped_until_steer_convergence: true
 
     # state transition
     drive_state_stop_dist: 0.5

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
@@ -57,7 +57,7 @@
     stop_state_entry_ego_speed: 0.001
     stop_state_entry_target_speed: 0.001
     converged_steer_rad: 0.1
-    keep_steer_control_until_converged: false
+    keep_steer_control_until_converged: true
     new_traj_duration_time: 1.0
     new_traj_end_dist: 0.3
 

diff --git a/launch/tier4_control_launch/config/trajectory_follower/longitudinal_controller.param.yaml b/launch/tier4_control_launch/config/trajectory_follower/longitudinal_controller.param.yaml
@@ -6,7 +6,7 @@
     enable_overshoot_emergency: true
     enable_large_tracking_error_emergency: true
     enable_slope_compensation: false
-    enable_keep_stopped_until_steer_convergence: false
+    enable_keep_stopped_until_steer_convergence: true
 
     # state transition
     drive_state_stop_dist: 0.5