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Expand Up @@ -128,38 +128,38 @@ There are parameters that are common to all trajectories and parameters that are

ROS 2 params which are common in all trajectories (`/config/common_param.yaml`):

| Name | Type | Description | Default value |
| :--------------------------------------- | :------- | :-------------------------------------------------------------------------------------------------- | :------------- |
| `LOAD_ROSBAG2_FILES` | `bool` | Flag that determines whether to load rosbag2 data or not | True |
| Name | Type | Description | Default value |
| :--------------------------------------- | :------- | :---------------------------------------------------------------------------------------------------------------------------------------- | :------------- |
| `LOAD_ROSBAG2_FILES` | `bool` | Flag that determines whether to load rosbag2 data or not | True |
| `COURSE_NAME` | `string` | Course name [`eight_course`, `u_shaped_return`, `straight_line_positive`, `straight_line_negative`, `reversal_loop_circle`, `along_road`] | `eight_course` |
| `NUM_BINS_V` | `int` | Number of bins of velocity in heatmap | 10 |
| `NUM_BINS_STEER` | `int` | Number of bins of steer in heatmap | 10 |
| `NUM_BINS_A` | `int` | Number of bins of acceleration in heatmap | 10 |
| `V_MIN` | `double` | Minimum velocity in heatmap [m/s] | 0.0 |
| `V_MAX` | `double` | Maximum velocity in heatmap [m/s] | 11.5 |
| `STEER_MIN` | `double` | Minimum steer in heatmap [rad] | -1.0 |
| `STEER_MAX` | `double` | Maximum steer in heatmap [rad] | 1.0 |
| `A_MIN` | `double` | Minimum acceleration in heatmap [m/ss] | -1.0 |
| `A_MAX` | `double` | Maximum acceleration in heatmap [m/ss] | 1.0 |
| `max_lateral_accel` | `double` | Max lateral acceleration limit [m/ss] | 0.5 |
| `lateral_error_threshold` | `double` | Lateral error threshold where applying velocity limit [m/s] | 5.0 |
| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 0.50 |
| `velocity_limit_by_tracking_error` | `double` | Velocity limit applied when tracking error exceeds threshold [m/s] | 1.0 |
| `mov_ave_window` | `int` | Moving average smoothing window size | 100 |
| `target_longitudinal_velocity` | `double` | Target longitudinal velocity [m/s] | 6.0 |
| `pure_pursuit_type` | `string` | Pure pursuit type (`naive` or `linearized` steer control law ) | `linearized` |
| `wheel_base` | `double` | Wheel base [m] | 2.79 |
| `acc_kp` | `double` | Accel command proportional gain | 1.0 |
| `lookahead_time` | `double` | Pure pursuit lookahead time [s] | 2.0 |
| `min_lookahead` | `double` | Pure pursuit minimum lookahead length [m] | 2.0 |
| `linearized_pure_pursuit_steer_kp_param` | `double` | Linearized pure pursuit steering P gain parameter | 2.0 |
| `linearized_pure_pursuit_steer_kd_param` | `double` | Linearized pure pursuit steering D gain parameter | 2.0 |
| `stop_acc` | `double` | Accel command for stopping data collecting driving [m/ss] | -2.0 |
| `stop_jerk_lim` | `double` | Jerk limit for stopping data collecting driving [m/sss] | 5.0 |
| `lon_acc_lim` | `double` | Longitudinal acceleration limit [m/ss] | 5.0 |
| `lon_jerk_lim` | `double` | Longitudinal jerk limit [m/sss] | 5.0 |
| `steer_lim` | `double` | Steering angle limit [rad] | 1.0 |
| `steer_rate_lim` | `double` | Steering angle rate limit [rad/s] | 1.0 |
| `NUM_BINS_V` | `int` | Number of bins of velocity in heatmap | 10 |
| `NUM_BINS_STEER` | `int` | Number of bins of steer in heatmap | 10 |
| `NUM_BINS_A` | `int` | Number of bins of acceleration in heatmap | 10 |
| `V_MIN` | `double` | Minimum velocity in heatmap [m/s] | 0.0 |
| `V_MAX` | `double` | Maximum velocity in heatmap [m/s] | 11.5 |
| `STEER_MIN` | `double` | Minimum steer in heatmap [rad] | -1.0 |
| `STEER_MAX` | `double` | Maximum steer in heatmap [rad] | 1.0 |
| `A_MIN` | `double` | Minimum acceleration in heatmap [m/ss] | -1.0 |
| `A_MAX` | `double` | Maximum acceleration in heatmap [m/ss] | 1.0 |
| `max_lateral_accel` | `double` | Max lateral acceleration limit [m/ss] | 0.5 |
| `lateral_error_threshold` | `double` | Lateral error threshold where applying velocity limit [m/s] | 5.0 |
| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 0.50 |
| `velocity_limit_by_tracking_error` | `double` | Velocity limit applied when tracking error exceeds threshold [m/s] | 1.0 |
| `mov_ave_window` | `int` | Moving average smoothing window size | 100 |
| `target_longitudinal_velocity` | `double` | Target longitudinal velocity [m/s] | 6.0 |
| `pure_pursuit_type` | `string` | Pure pursuit type (`naive` or `linearized` steer control law ) | `linearized` |
| `wheel_base` | `double` | Wheel base [m] | 2.79 |
| `acc_kp` | `double` | Accel command proportional gain | 1.0 |
| `lookahead_time` | `double` | Pure pursuit lookahead time [s] | 2.0 |
| `min_lookahead` | `double` | Pure pursuit minimum lookahead length [m] | 2.0 |
| `linearized_pure_pursuit_steer_kp_param` | `double` | Linearized pure pursuit steering P gain parameter | 2.0 |
| `linearized_pure_pursuit_steer_kd_param` | `double` | Linearized pure pursuit steering D gain parameter | 2.0 |
| `stop_acc` | `double` | Accel command for stopping data collecting driving [m/ss] | -2.0 |
| `stop_jerk_lim` | `double` | Jerk limit for stopping data collecting driving [m/sss] | 5.0 |
| `lon_acc_lim` | `double` | Longitudinal acceleration limit [m/ss] | 5.0 |
| `lon_jerk_lim` | `double` | Longitudinal jerk limit [m/sss] | 5.0 |
| `steer_lim` | `double` | Steering angle limit [rad] | 1.0 |
| `steer_rate_lim` | `double` | Steering angle rate limit [rad/s] | 1.0 |

The following parameters are common to all trajectories but can be defined individually for each trajectory. (`/config/course_param/COURSE_NAME_param.yaml`):
| Name | Type | Description | Default value |
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