chore: acceleration simulator #199
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…on tester Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
…ndation#2074) * refactor(raw_vehicle_cmd_converter): refactor csv loader Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * refactor: replace type Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * refactor(raw_vehicle_cmd_converter): add get column index func Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * refactor: saturation Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
autowarefoundation#2080) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
…utowarefoundation#2081) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
…est (autowarefoundation#2077) * refactor: error message * refactor: remove pid depends from steer converter this will make pid implementation easiter to accel/brake Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> * refactor: add getter setter method Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> * chore: add maintainer Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> * refactor: unite steer converter to same class name Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> * chore: revert fix commit Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> * refactor: use const Signed-off-by: taikitanaka3 <ttatcoder@outlook.jp> * refactor: add const left Signed-off-by: taikitanaka3 <ttatcoder@outlook.jp> * style: spell check Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> * style: spell check Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> * style: update const with suggestion Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * style: to steer map Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * style: spell check Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> Signed-off-by: taikitanaka3 <ttatcoder@outlook.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
autowarefoundation#2152) * feat(raw_vehicle_cmd_converter): validate map at first before run time Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> * chore: remove debug * fix: clamp method and add more unit tests Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> * feat: add more realistic params Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> * chore: revert to simple map Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Revert "chore: revert to simple map" This reverts commit 0350724. Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
…dation#2437) Signed-off-by: tanaka3 <taiki.tanaka@tier4.jp> Signed-off-by: tanaka3 <taiki.tanaka@tier4.jp>
taikitanaka3
commented
Dec 5, 2022
| @@ -59,13 +60,18 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control | |||
| } | |||
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| const auto longitudinal_controller_mode = | |||
| getLongitudinalControllerMode(declare_parameter("longitudinal_controller_mode", "pid")); | |||
| getLongitudinalControllerMode(declare_parameter("longitudinal_controller_mode", "constant")); | |||
taikitanaka3
commented
Dec 5, 2022
| // TODO consider way to give acceleration map path better way | ||
| const std::string acceleration_map_path = declare_parameter( | ||
| "acceleration_map_path", | ||
| std::string("$HOME/workspace/xx1_v0.5.0/src/autoware/universe/simulator/" |
taikitanaka3
commented
Dec 5, 2022
| vehicle_model_type_ = VehicleModelType::DELAY_STEER_ACC_GEARED; | ||
| vehicle_model_ptr_ = std::make_shared<SimModelDelaySteerAccGeared>( | ||
| vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, timer_sampling_time_ms_ / 1000.0, | ||
| acc_time_delay, acc_time_constant, steer_time_delay, steer_time_constant); | ||
| } else if (vehicle_model_type_str == "DELAY_CONVERTER") { |
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set sim model param DELAY_CONVERTER by vehicle description
Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
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Description
https://tier4.atlassian.net/browse/T4PB-23241
terminal 1
terminal 2 run const acceleration controller
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