feat: create the controller-dynamics consistency checker #17
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… the dynamics Signed-off-by: Zhe Shen <[email protected]>
maxime-clem
reviewed
Mar 26, 2024
Signed-off-by: Zhe Shen <[email protected]>
Signed-off-by: Zhe Shen <[email protected]>
…ments. e.g., --mpc_param_file path/to/the/file Signed-off-by: Zhe Shen <[email protected]>
Signed-off-by: Zhe Shen <[email protected]>
Signed-off-by: Zhe Shen <[email protected]>
Signed-off-by: Zhe Shen <[email protected]>
Signed-off-by: Zhe Shen <[email protected]>
Signed-off-by: Zhe Shen <[email protected]>
Signed-off-by: Zhe Shen <[email protected]>
Signed-off-by: Zhe Shen <[email protected]>
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Description
A mismatch of the parameters between the controllers and the dynamics may cause failing to stabilize the ego.
Therefore, this ticket creates a controller-dynamics consistency checker.
It checks the following parameters:
input_delay
vehicle_model_steer_tau
acceleration_limit
steer_rate_lim_dps_list_by_curvature
steer_rate_lim_dps_list_by_velocity
max_acc
min_acc
Related links
https://tier4.atlassian.net/jira/software/c/projects/RT1/boards/438?selectedIssue=RT1-5682
Tests performed
Notes for reviewers
Interface changes
Effects on system behavior
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Post-review checklist for the PR author
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