From c9ba4333a8606c728e13c627f06f635a51000775 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Mon, 2 Oct 2023 18:47:40 +0300 Subject: [PATCH] feat(controller): remove deprecated parameters about steering convergence Signed-off-by: Berkay Karaman --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 -- .../control/trajectory_follower/lateral/pure_pursuit.param.yaml | 1 - .../control/trajectory_follower/longitudinal/pid.param.yaml | 1 - 3 files changed, 4 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 4222082d40..217968a2c1 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -61,8 +61,6 @@ # stop state: steering command is kept in the previous value in the stop state. stop_state_entry_ego_speed: 0.001 stop_state_entry_target_speed: 0.001 - converged_steer_rad: 0.1 - keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] diff --git a/autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml index 0b8b464e9f..3b075cce32 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml @@ -6,7 +6,6 @@ long_ld_lateral_error_threshold: 0.5 min_lookahead_distance: 4.35 max_lookahead_distance: 15.0 - converged_steer_rad: 0.1 reverse_min_lookahead_distance: 7.0 prediction_ds: 0.3 prediction_distance_length: 21.0 diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index c39088753f..a9f505a019 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -6,7 +6,6 @@ enable_overshoot_emergency: true enable_large_tracking_error_emergency: true enable_slope_compensation: true - enable_keep_stopped_until_steer_convergence: true # state transition drive_state_stop_dist: 0.5