load velocity_controller_param.yaml from launcher (autowarefoundation#52

) Signed-off-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
tkimura4 · Dec 10, 2021 · 0eee7c5 · 0eee7c5
1 parent e9da1b5
commit 0eee7c5
Show file tree

Hide file tree

Showing 2 changed files with 60 additions and 0 deletions.
diff --git a/launch/control_launch/config/velocity_controller/velocity_controller_param.yaml b/launch/control_launch/config/velocity_controller/velocity_controller_param.yaml
@@ -0,0 +1,58 @@
+# closest waypoint threshold
+closest_waypoint_distance_threshold: 3.0
+closest_waypoint_angle_threshold: 0.7854
+
+# stop state
+stop_state_velocity: 0.0
+stop_state_acc: -3.4
+stop_state_entry_ego_speed: 0.2
+stop_state_entry_target_speed: 0.1
+
+# delay compensation
+delay_compensation_time: 0.17
+
+# emergency stop by this controller
+emergency_stop_acc: -5.0
+emergency_stop_jerk: -3.0
+
+# smooth stop
+smooth_stop:
+  exit_ego_speed: 1.0
+  entry_ego_speed: 0.8
+  exit_target_speed: 1.0
+  entry_target_speed: 0.2
+  weak_brake_time: 1.0
+  weak_brake_acc: -1.0
+  increasing_brake_time: 1.0
+  increasing_brake_gradient: -0.1
+  stop_brake_time: 1.0
+  stop_brake_acc: -3.4
+
+# acceleration limit
+max_acc: 3.0
+min_acc: -5.0
+
+# jerk limit
+max_jerk: 2.0
+min_jerk: -5.0
+
+# slope compensation
+max_pitch_rad: 0.1
+min_pitch_rad: -0.1
+lpf_pitch_gain: 0.95
+
+# velocity feedback
+pid_controller:
+  kp: 1.0
+  ki: 0.1
+  kd: 0
+  max_out: 1.0
+  min_out: -1.0
+  max_p_effort: 1.0
+  min_p_effort: -1.0
+  max_i_effort: 0.3
+  min_i_effort: -0.3
+  max_d_effort: 0
+  min_d_effort: 0
+  current_velocity_threshold_pid_integration: 0.5
+  lpf_velocity_error_gain: 0.9
diff --git a/launch/control_launch/launch/control.launch b/launch/control_launch/launch/control.launch
@@ -7,6 +7,7 @@
   <!-- control parameter -->
   <arg name="mpc_follower_param_path" default="$(find control_launch)/config/mpc_follower/mpc_follower_param.yaml"/>
   <arg name="pure_pursuit_param_path" default="$(find control_launch)/config/pure_pursuit/pure_pursuit_param.yaml"/>
+  <arg name="velocity_controller_param_path" default="$(find control_launch)/config/velocity_controller/velocity_controller_param.yaml"/>
 
   <!-- control module -->
   <group ns="control">
@@ -25,6 +26,7 @@
 
       <!-- longitudinal controller -->
       <include file="$(find velocity_controller)/launch/velocity_controller.launch">
+        <arg name="velocity_controller_param_path" value="$(arg velocity_controller_param_path)"/>
       </include>
 
       <!-- latlon coupler -->