fix(trajectory_follower): accommodate the parameters of the controllers to the dynamics in the simulator. #941
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…ics and the controller are identical after this commit Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
|
@HansOersted Please add the link of the sample_vehicle_description in the description. |
takayuki5168
approved these changes
Apr 1, 2024
yuki-takagi-66
pushed a commit
to tier4/autoware_launch
that referenced
this pull request
Sep 17, 2024
…warefoundation#940) (autowarefoundation#941) Signed-off-by: Ericpotato <zhanhong.yan@tier4.jp>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Without specific reasons, the parameters of the controllers should correspond to the parameters of the dynamics.
However, the current version of autoware has a mismatch in these parameters. (https://github.com/autowarefoundation/sample_vehicle_launch/blob/main/sample_vehicle_description/config/simulator_model.param.yaml#L13-L15)
The detail of the relevant comparison is visualized below:
Therefore, this PR corrects these two parameters in the controller.
vehicle_model_steer_tauin mpc.param.yaml anddelay_compensation_timein pid.param.yaml, in specific.The corrected controllers will match the dynamics of the vehicle in the simulator.
Related links
Tests performed
Notes for reviewers
Interface changes
Effects on system behavior
Pre-review checklist for the PR author
The PR author must check the checkboxes below when creating the PR.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.