feat(control_data_collecting_tool): add constant acceleration/actuation mode #185
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Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
chore: merge main to feat/add_actuation_mode
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
chore: merge feat/add_actuation_mode_temp to feat/add_actuation_mode
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
Signed-off-by: Yoshihiro Kogure <[email protected]>
YoshihiroKogure
requested review from
kosuke55,
TakaHoribe and
takayuki5168
as code owners
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Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
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kosuke55
changed the title
kosuke55
reviewed
Jan 8, 2025
| acceleration_cmd = self.get_parameter("stop_acc").get_parameter_value().double_value | ||
| if self.CONTROL_MODE == "actuation_cmd" or self.CONTROL_MODE == "external_actuation_cmd": | ||
| if self.pedal_input is not None: | ||
| acceleration_cmd = self.accel_brake_map.convert_actuation_cmd_to_accel_input( |
There was a problem hiding this comment.
memo:
actuation_cmd is not published directly, reconverted in raw_vehicle_cmd_converter.
actuation_cmd -[this tool]-> acceleration_cmd -[raw_vehicle_cmd_converter]-> actuation_cmd
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kosuke55
reviewed
Jan 8, 2025
kosuke55
approved these changes
Jan 9, 2025
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Description
I added a script to collect data for acceleration and deceleration with constant acceleration or pedal input (& fixed minor bugs and typos).
Please rebuild the project and then collect data for constant acceleration and pedal input adjustments.
constant acceleration command data collection
Change
CONTROL_MODEinconfig/common_param.yamltoexternal_acceleration_cmd, and follow the instructions in section 7.3 of How to use in README.md under theexternal_acceleration_cmditem.constant actuation command data collection
Change
CONTROL_MODEinconfig/common_param.yamltoexternal_actuation_cmd, and follow the instructions in section 7.3 of How to use in README.md under theexternal_actuation_cmditem.Please note that when launching the
control_data_collecting_tool, specify the file path to the accel/brake map as described in section 4 of How to use.How was this PR tested?
Notes for reviewers
None.
Effects on system behavior
None.