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feat(control_validator): measure predicted path deviation from trajectory #509

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merged 8 commits into from
Aug 15, 2023
Merged

feat(control_validator): measure predicted path deviation from trajectory #509

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0f20afb
update launcher
kyoichi-sugahara Aug 11, 2023
9a88933
add config and modify launch file
kyoichi-sugahara Aug 12, 2023
3067750
Merge branch 'main' into feature/predicted_path_deviation_from_trajec…
kyoichi-sugahara Aug 12, 2023
e38c008
style(pre-commit): autofix
pre-commit-ci[bot] Aug 12, 2023
31c28a7
feat(lane_departure_checker): add road_border departure checker (#511)
kyoichi-sugahara Aug 15, 2023
1329464
feat(system_error_monitor): check lateral deviation in sim (#516)
satoshi-ota Aug 15, 2023
aa92e3f
restore rviz config change
kyoichi-sugahara Aug 15, 2023
7c69104
Merge branch 'main' into feature/predicted_path_deviation_from_trajec…
kyoichi-sugahara Aug 15, 2023
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14 changes: 14 additions & 0 deletions autoware_launch/config/control/control_validator/control_validator.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
/**:
ros__parameters:

publish_diag: true # if true, diagnostic msg is published

# If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
# (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if
# the next predicted_path is valid.)
diag_error_count_threshold: 0

display_on_terminal: true # show error msg on terminal

thresholds:
max_distance_deviation: 1.0
1 change: 1 addition & 0 deletions autoware_launch/launch/components/tier4_control_component.launch.xml
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Expand Up @@ -35,6 +35,7 @@
<arg name="lon_controller_param_path" value="$(var lon_controller_param_path)"/>
<arg name="vehicle_cmd_gate_param_path" value="$(find-pkg-share autoware_launch)/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml"/>
<arg name="lane_departure_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/lane_departure_checker/lane_departure_checker.param.yaml"/>
<arg name="control_validator_param_path" value="$(find-pkg-share autoware_launch)/config/control/control_validator/control_validator.param.yaml"/>
<arg name="operation_mode_transition_manager_param_path" value="$(find-pkg-share autoware_launch)/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml"/>
<arg name="shift_decider_param_path" value="$(find-pkg-share autoware_launch)/config/control/shift_decider/shift_decider.param.yaml"/>
<arg name="obstacle_collision_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml"/>
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