From c1b5e09e8a5775f63ab3fa1ff54d1a355e5be9c1 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 11 Jul 2022 12:29:12 +0900 Subject: [PATCH] feat: change control param for xx1 (#284) * change plan_from_ego to true Signed-off-by: tomoya.kimura * enable_keep_stopped_until_steer_convergence: true Signed-off-by: tomoya.kimura * keep_steer_control_until_converged: true Signed-off-by: tomoya.kimura --- .../config/trajectory_follower/1/lateral_controller.param.yaml | 2 +- .../trajectory_follower/1/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/10/lateral_controller.param.yaml | 2 +- .../trajectory_follower/10/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/2/lateral_controller.param.yaml | 2 +- .../trajectory_follower/2/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/3/lateral_controller.param.yaml | 2 +- .../trajectory_follower/3/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/4/lateral_controller.param.yaml | 2 +- .../trajectory_follower/4/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/5/lateral_controller.param.yaml | 2 +- .../trajectory_follower/5/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/6/lateral_controller.param.yaml | 2 +- .../trajectory_follower/6/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/7/lateral_controller.param.yaml | 2 +- .../trajectory_follower/7/longitudinal_controller.param.yaml | 2 +- .../config/trajectory_follower/9/lateral_controller.param.yaml | 2 +- .../trajectory_follower/9/longitudinal_controller.param.yaml | 2 +- .../trajectory_follower/default/lateral_controller.param.yaml | 2 +- .../default/longitudinal_controller.param.yaml | 2 +- .../obstacle_avoidance_planner.param.yaml | 2 +- 21 files changed, 21 insertions(+), 21 deletions(-) diff --git a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/lateral_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml index 571d66174f..0077637d07 100644 --- a/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/lateral_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml index 1c71fa9b09..8c98424e6a 100644 --- a/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/lateral_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml index 1c71fa9b09..8c98424e6a 100644 --- a/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/lateral_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml index 9cefc359d6..55ea426c1f 100644 --- a/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml index b979878ab3..46ee0fa0a9 100644 --- a/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/lateral_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml index 7848f47c4f..be9e35ce4b 100644 --- a/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml index 440ef62427..93cb952819 100644 --- a/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/lateral_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml index 1c71fa9b09..8c98424e6a 100644 --- a/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/lateral_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml index 571d66174f..0077637d07 100644 --- a/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/lateral_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml index 1c71fa9b09..8c98424e6a 100644 --- a/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml index a92f958bd8..fe77dd829d 100644 --- a/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/lateral_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml index 032e9d7d25..aa477f75df 100644 --- a/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml index 133b794b39..d7543de53f 100644 --- a/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/lateral_controller.param.yaml @@ -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 diff --git a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml index 1c71fa9b09..8c98424e6a 100644 --- a/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml +++ b/control_launch/config/trajectory_follower/default/longitudinal_controller.param.yaml @@ -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 diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 6df9e2af49..a7c17f07b2 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -58,7 +58,7 @@ 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