feat(data_collecting_tool): improve data collection logic (#108)

* create data collection logic Signed-off-by: Yoshihiro Kogure <[email protected]> * remove an unnecessary comment Signed-off-by: Yoshihiro Kogure <[email protected]> * remove uncessary codes and fix some params Signed-off-by: Yoshihiro Kogure <[email protected]> * style(pre-commit): autofix * add u_shaped course and straight line Signed-off-by: Yoshihiro Kogure <[email protected]> * add backwards straight line Signed-off-by: Yoshihiro Kogure <[email protected]> * define parameters as global variables Signed-off-by: Yoshihiro Kogure <[email protected]> * style(pre-commit): autofix * revert_merge Signed-off-by: Yoshihiro Kogure <[email protected]> * style(pre-commit): autofix * apply pre-commit run Signed-off-by: Yoshihiro Kogure <[email protected]> * modify README Signed-off-by: Yoshihiro Kogure <[email protected]> * style(pre-commit): autofix * modify spell Signed-off-by: Yoshihiro Kogure <[email protected]> --------- Signed-off-by: Yoshihiro Kogure <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Sep 9, 2024 · 75537a7 · 75537a7
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diff --git a/control_data_collecting_tool/README.md b/control_data_collecting_tool/README.md
@@ -87,11 +87,11 @@ ROS 2 params in `/data_collecting_trajectory_publisher` node:
 | :--------------------------------------- | :------- | :-------------------------------------------------------------------- | :------------ |
 | `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]               | 0.5           |
-| `velocity_limit_by_tracking_error`       | `double` | Velocity limit applied when tracking error exceeds threshold [m/s]    | 2.0           |
+| `yaw_error_threshold`                    | `double` | Yaw error threshold where applying velocity limit [rad]               | 0.75          |
+| `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                                  | 50            |
 | `target_longitudinal_velocity`           | `double` | Target longitudinal velocity [m/s]                                    | 6.0           |
-| `longitudinal_velocity_noise_amp`        | `double` | Target longitudinal velocity additional sine noise amplitude [m/s]    | 0.1           |
+| `longitudinal_velocity_noise_amp`        | `double` | Target longitudinal velocity additional sine noise amplitude [m/s]    | 0.01          |
 | `longitudinal_velocity_noise_min_period` | `double` | Target longitudinal velocity additional sine noise minimum period [s] | 5.0           |
 | `longitudinal_velocity_noise_max_period` | `double` | Target longitudinal velocity additional sine noise maximum period [s] | 20.0          |
 
@@ -101,9 +101,9 @@ ROS 2 params in `/data_collecting_pure_pursuit_trajectory_follower` node:
 | :--------------------------------------- | :------- | :------------------------------------------------------------- | :------------ |
 | `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                                | 0.5           |
-| `lookahead_time`                         | `double` | Pure pursuit lookahead time [s]                                | 1.5           |
-| `min_lookahead`                          | `double` | Pure pursuit minimum lookahead length [m]                      | 3.0           |
+| `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          |

diff --git a/control_data_collecting_tool/scripts/data_collecting_pure_pursuit_trajectory_follower.py b/control_data_collecting_tool/scripts/data_collecting_pure_pursuit_trajectory_follower.py
@@ -60,19 +60,19 @@ def __init__(self):
 
         self.declare_parameter(
             "acc_kp",
-            0.5,
+            1.0,
             ParameterDescriptor(description="Pure pursuit accel command proportional gain"),
         )
 
         self.declare_parameter(
             "lookahead_time",
-            1.5,
+            2.0,
             ParameterDescriptor(description="Pure pursuit lookahead length coef [m/(m/s)]"),
         )
 
         self.declare_parameter(
             "min_lookahead",
-            3.0,
+            2.0,
             ParameterDescriptor(description="Pure pursuit lookahead length intercept [m]"),
         )
 
@@ -98,7 +98,7 @@ def __init__(self):
 
         self.declare_parameter(
             "stop_jerk_lim",
-            1.0,
+            2.0,
             ParameterDescriptor(
                 description="Jerk limit for stopping data collecting driving [m/sss]"
             ),
@@ -107,7 +107,7 @@ def __init__(self):
         # lim default values are taken from https://github.com/autowarefoundation/autoware.universe/blob/e90d3569bacaf64711072a94511ccdb619a59464/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml
         self.declare_parameter(
             "lon_acc_lim",
-            5.0,
+            2.0,
             ParameterDescriptor(description="Longitudinal acceleration limit [m/ss]"),
         )
 
@@ -131,14 +131,14 @@ def __init__(self):
 
         self.declare_parameter(
             "acc_noise_amp",
-            0.05,
+            0.00,
             ParameterDescriptor(description="Accel cmd additional sine noise amplitude [m/ss]"),
         )
 
         self.declare_parameter(
             "acc_noise_min_period",
             5.0,
-            ParameterDescriptor(description="Accel cmd additional sine noise minimum period [s]"),
+            ParameterDescriptor(description="Accel cmd additional sineW noise minimum period [s]"),
         )
 
         self.declare_parameter(
@@ -149,7 +149,7 @@ def __init__(self):
 
         self.declare_parameter(
             "steer_noise_amp",
-            0.01,
+            0.00,
             ParameterDescriptor(description="Steer cmd additional sine noise amplitude [rad]"),
         )