Revert "modify params"

This reverts commit 369fb12.
autowarefoundation · Sep 26, 2024 · bbf9187 · bbf9187
1 parent 2cea50e
commit bbf9187
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Showing 3 changed files with 7 additions and 8 deletions.
diff --git a/control_data_collecting_tool/README.md b/control_data_collecting_tool/README.md
@@ -113,9 +113,9 @@ ROS 2 params in `/data_collecting_trajectory_publisher` node:
 | `acc_kp`                                 | `double` | Accel command proportional gain                                                                     | 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           |
+| `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                                                                | 100            |
+| `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]                                  | 0.01           |
 | `longitudinal_velocity_noise_min_period` | `double` | Target longitudinal velocity additional sine noise minimum period [s]                               | 5.0            |

diff --git a/control_data_collecting_tool/config/param.yaml b/control_data_collecting_tool/config/param.yaml
@@ -22,18 +22,17 @@ data_collecting_trajectory_publisher:
 
     max_lateral_accel: 0.5
     lateral_error_threshold: 2.0
-    yaw_error_threshold: 0.50
+    yaw_error_threshold: 0.75
     velocity_limit_by_tracking_error: 1.0
-    mov_ave_window: 100
-    target_longitudinl_velocity: 6.0
+    mov_ave_window: 50
+    target_longitudinal_velocity: 6.0
     longitudinal_velocity_noise_amp: 0.01
     longitudinal_velocity_noise_min_period: 5.0
     longitudinal_velocity_noise_max_period: 20.0
 
 data_collecting_pure_pursuit_trajectory_follower:
   ros__parameters:
     pure_pursuit_type: linearized
-    # pure_pursuit_type: naive
     lookahead_time: 2.0
     min_lookahead: 2.0
     linearized_pure_pursuit_steer_kp_param: 2.0

diff --git a/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py b/control_data_collecting_tool/scripts/data_collecting_trajectory_publisher.py
@@ -376,7 +376,7 @@ def __init__(self):
 
         self.declare_parameter(
             "yaw_error_threshold",
-            0.50,
+            0.75,
             ParameterDescriptor(
                 description="Yaw error threshold where applying velocity limit [rad]"
             ),
@@ -392,7 +392,7 @@ def __init__(self):
 
         self.declare_parameter(
             "mov_ave_window",
-            100,
+            50,
             ParameterDescriptor(description="Moving average smoothing window size"),
         )