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feat: change control param for xx1 (#284)
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* change plan_from_ego to true

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* enable_keep_stopped_until_steer_convergence: true

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* keep_steer_control_until_converged: true

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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@tkimura4
tkimura4 authored Jul 11, 2022
1 parent ddeece8 commit c1b5e09
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Showing 21 changed files with 21 additions and 21 deletions.
2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/1/lateral_controller.param.yaml
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stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.2
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

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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml
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enable_overshoot_emergency: false
enable_large_tracking_error_emergency: false
enable_slope_compensation: true
enable_keep_stopped_until_steer_convergence: false
enable_keep_stopped_until_steer_convergence: true

# state transition
drive_state_stop_dist: 0.5
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/10/lateral_controller.param.yaml
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stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.2
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

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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml
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enable_overshoot_emergency: false
enable_large_tracking_error_emergency: false
enable_slope_compensation: true
enable_keep_stopped_until_steer_convergence: false
enable_keep_stopped_until_steer_convergence: true

# state transition
drive_state_stop_dist: 0.5
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/2/lateral_controller.param.yaml
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stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.2
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

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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml
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enable_overshoot_emergency: false
enable_large_tracking_error_emergency: false
enable_slope_compensation: true
enable_keep_stopped_until_steer_convergence: false
enable_keep_stopped_until_steer_convergence: true

# state transition
drive_state_stop_dist: 0.5
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/3/lateral_controller.param.yaml
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stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.2
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

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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml
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enable_overshoot_emergency: false
enable_large_tracking_error_emergency: false
enable_slope_compensation: true
enable_keep_stopped_until_steer_convergence: false
enable_keep_stopped_until_steer_convergence: true

# state transition
drive_state_stop_dist: 0.5
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/4/lateral_controller.param.yaml
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stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.2
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

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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml
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enable_overshoot_emergency: false
enable_large_tracking_error_emergency: false
enable_slope_compensation: true
enable_keep_stopped_until_steer_convergence: false
enable_keep_stopped_until_steer_convergence: true

# state transition
drive_state_stop_dist: 0.5
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/5/lateral_controller.param.yaml
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stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.2
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

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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml
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enable_overshoot_emergency: false
enable_large_tracking_error_emergency: false
enable_slope_compensation: true
enable_keep_stopped_until_steer_convergence: false
enable_keep_stopped_until_steer_convergence: true

# state transition
drive_state_stop_dist: 0.5
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/6/lateral_controller.param.yaml
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stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.2
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

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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml
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enable_overshoot_emergency: false
enable_large_tracking_error_emergency: false
enable_slope_compensation: true
enable_keep_stopped_until_steer_convergence: false
enable_keep_stopped_until_steer_convergence: true

# state transition
drive_state_stop_dist: 0.5
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/7/lateral_controller.param.yaml
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stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.2
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

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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml
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enable_overshoot_emergency: false
enable_large_tracking_error_emergency: false
enable_slope_compensation: true
enable_keep_stopped_until_steer_convergence: false
enable_keep_stopped_until_steer_convergence: true

# state transition
drive_state_stop_dist: 0.5
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/9/lateral_controller.param.yaml
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Expand Up @@ -57,7 +57,7 @@
stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.2
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

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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml
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Expand Up @@ -6,7 +6,7 @@
enable_overshoot_emergency: false
enable_large_tracking_error_emergency: false
enable_slope_compensation: true
enable_keep_stopped_until_steer_convergence: false
enable_keep_stopped_until_steer_convergence: true

# state transition
drive_state_stop_dist: 0.5
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/default/lateral_controller.param.yaml
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Expand Up @@ -57,7 +57,7 @@
stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.2
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

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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml
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enable_overshoot_emergency: false
enable_large_tracking_error_emergency: false
enable_slope_compensation: true
enable_keep_stopped_until_steer_convergence: false
enable_keep_stopped_until_steer_convergence: true

# state transition
drive_state_stop_dist: 0.5
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2 changes: 1 addition & 1 deletion ..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
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option:
steer_limit_constraint: true
fix_points_around_ego: true
plan_from_ego: false
plan_from_ego: true
max_plan_from_ego_length: 10.0
visualize_sampling_num: 1
enable_manual_warm_start: true
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