From 4dfcf56d23b29f5efc4575d3cf91d6f368e4f3b2 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sat, 23 Apr 2022 17:08:50 +0900 Subject: [PATCH] feat(tier4_control_launch): remove unnecessary parameters Signed-off-by: Takayuki Murooka --- .../design/lateral_controller-design.md | 1 - launch/tier4_control_launch/launch/control.launch.py | 8 -------- .../config/obstacle_stop_planner.param.yaml | 2 ++ 3 files changed, 2 insertions(+), 9 deletions(-) diff --git a/control/trajectory_follower_nodes/design/lateral_controller-design.md b/control/trajectory_follower_nodes/design/lateral_controller-design.md index d4955e2d26f10..e4d39916d456d 100644 --- a/control/trajectory_follower_nodes/design/lateral_controller-design.md +++ b/control/trajectory_follower_nodes/design/lateral_controller-design.md @@ -53,7 +53,6 @@ AutonomouStuff Lexus RX 450h for under 40 km/h driving. | Name | Type | Description | Default value | | :------------------------------------------- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------ | :------------ | -| show_debug_info | bool | display debug info | false | | ctrl_period | double | control period [s] | 0.03 | | traj_resample_dist | double | distance of waypoints in resampling [m] | 0.1 | | enable_path_smoothing | bool | path smoothing flag. This should be true when uses path resampling to reduce resampling noise. | true | diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index 7359e2866b7eb..321acbedaeeee 100644 --- a/launch/tier4_control_launch/launch/control.launch.py +++ b/launch/tier4_control_launch/launch/control.launch.py @@ -112,10 +112,7 @@ def launch_setup(context, *args, **kwargs): lon_controller_param, vehicle_info_param, { - "control_rate": LaunchConfiguration("control_rate"), - "show_debug_info": LaunchConfiguration("show_debug_info"), "enable_smooth_stop": LaunchConfiguration("enable_smooth_stop"), - "enable_pub_debug": LaunchConfiguration("enable_pub_debug"), }, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], @@ -261,13 +258,11 @@ def launch_setup(context, *args, **kwargs): lat_controller_loader = LoadComposableNodes( composable_node_descriptions=[lat_controller_component], target_container=container, - # condition=LaunchConfigurationEquals("lateral_controller_mode", "mpc"), ) elif lateral_controller_mode == "pure_pursuit": lat_controller_loader = LoadComposableNodes( composable_node_descriptions=[pure_pursuit_component], target_container=container, - # condition=LaunchConfigurationEquals("lateral_controller_mode", "mpc"), ) group = GroupAction( @@ -354,12 +349,9 @@ def add_launch_arg(name: str, default_value=None, description=None): ) # velocity controller - add_launch_arg("control_rate", "30.0", "control rate") - add_launch_arg("show_debug_info", "false", "show debug information") add_launch_arg( "enable_smooth_stop", "true", "enable smooth stop (in velocity controller state)" ) - add_launch_arg("enable_pub_debug", "true", "enable to publish debug information") # vehicle cmd gate add_launch_arg("use_emergency_handling", "false", "use emergency handling") diff --git a/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml b/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml index c4be8d7c35789..7e60a2b1264c2 100644 --- a/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml +++ b/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml @@ -1,5 +1,7 @@ /**: ros__parameters: + enable_slow_down: False + stop_planner: stop_margin: 5.0 # stop margin distance from obstacle on the path [m] min_behavior_stop_margin: 2.0 # stop margin distance when any other stop point is inserted in stop margin [m]