diff --git a/control_data_collecting_tool/README.md b/control_data_collecting_tool/README.md index e024c437..1f853155 100644 --- a/control_data_collecting_tool/README.md +++ b/control_data_collecting_tool/README.md @@ -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 |