chore!: add sample osm, gear change, ll2 shape up, tune controller (#24)

* chore: add sample osm * chore: add sample converter * feat: add outline csv * chore: add tested * chore: remove mapfile folder * chore : add pcd * chore!: remove ll2 from gitlfs * chore! : remove rviz map from dallara launch * doc: update setup * chore: add clean build script * chore: update ll2 * chore: add pure pursuit param * feat: add gear change * chore: design change window proportion * chore: add ignore * chore: final new line * chore: final new line * fix: add multicast setting in main.bash Signed-off-by: Yu Asabe <[email protected]> --------- Signed-off-by: Yu Asabe <[email protected]> Co-authored-by: Yu Asabe <[email protected]>
AutomotiveAIChallenge · Nov 24, 2023 · 1d4a061 · 1d4a061
1 parent 07a8027
commit 1d4a061
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Showing 26 changed files with 8,814 additions and 2,582 deletions.
diff --git a/.gitattributes b/.gitattributes
@@ -1,2 +1,2 @@
 *.pcd filter=lfs diff=lfs merge=lfs -text
-*.osm filter=lfs diff=lfs merge=lfs -text
+*.csv filter=lfs diff=lfs merge=lfs -text
diff --git a/.gitignore b/.gitignore
@@ -9,6 +9,8 @@ install
 log
 AWSIM
 mapfile
+capture
 
 *.gz
+*.mp4
 result.json
diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_launch/config/autoware.rviz b/docker/aichallenge/aichallenge_ws/src/aichallenge_launch/config/autoware.rviz
@@ -2137,7 +2137,7 @@ Window Geometry:
   Height: 1043
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   RecognitionResultOnImage:
     collapsed: false
   Selection:

diff --git a/...s/src/aichallenge_submit/aichallenge_submit_launch/launch/autoware_micro_awsim.launch.xml b/...s/src/aichallenge_submit/aichallenge_submit_launch/launch/autoware_micro_awsim.launch.xml
@@ -230,10 +230,12 @@
   </group>
 
   <node pkg="simple_pure_pursuit" exec="simple_pure_pursuit" name="simple_pure_pursuit_node" output="screen">
-    <param name="use_external_target_vel" value="true"/>
+    <param name="use_external_target_vel" value="false"/>
     <param name="external_target_vel" value="100.0"/>
-    <param name="lateral_deviation" value="0.0"/>
-
+    <param name="lookahead_gain" value="0.4"/>
+    <param name="lookahead_min_distance" value="5.0"/>
+    <param name="speed_proportional_gain" value="1.0"/>
+
     <remap from="input/kinematics" to="/localization/kinematic_state"/>
     <remap from="input/trajectory" to="/planning/scenario_planning/trajectory"/>
     <remap from="output/control_cmd" to="/control/command/control_cmd"/>
-Original file line number
+Diff line change
@@ Expand Up / @@ -9,6 +9,8 @@ install @@
     log
     AWSIM
     mapfile
+    capture
     *.gz
+    *.mp4
     result.json