mppi + pure pursuit

booars · Aug 31, 2024 · 4b0f44a · 4b0f44a
1 parent 202e565
commit 4b0f44a
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Showing 3 changed files with 9 additions and 8 deletions.
diff --git a/...rkspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml b/...rkspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
@@ -15,4 +15,4 @@
       predicted_object_layer:
         type: "predicted_object"
         predicted_objects_topic: "/perception/object_recognition/objects"
-        distance_threshold: 1.0
+        distance_threshold: 1.2
diff --git a/...lenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml b/...lenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml
@@ -5,12 +5,13 @@
     <node pkg="simple_pure_pursuit" exec="simple_pure_pursuit" name="simple_pure_pursuit_node" output="screen">
       <param name="use_external_target_vel" value="true"/>
       <param name="external_target_vel" value="8.0"/>
-      <param name="lookahead_gain" value="0.3"/>
-      <param name="lookahead_min_distance" value="4.0"/>
+      <param name="lookahead_gain" value="0.4"/>
+      <param name="lookahead_min_distance" value="3.0"/>
       <param name="speed_proportional_gain" value="1.0"/>
 
       <remap from="input/kinematics" to="/localization/kinematic_state"/>
-      <remap from="input/trajectory" to="/planning/scenario_planning/trajectory"/>
+      <!-- <remap from="input/trajectory" to="/planning/scenario_planning/trajectory"/> -->
+      <remap from="input/trajectory" to="/planning/output/mppi_planned_path"/>
       <remap from="output/control_cmd" to="/control/command/control_cmd"/>
     </node>
   </group>

diff --git a/...llenge/workspace/src/aichallenge_submit/mppi_controller/config/mppi_controller.param.yaml b/...llenge/workspace/src/aichallenge_submit/mppi_controller/config/mppi_controller.param.yaml
@@ -5,16 +5,16 @@
       num_samples : 3000
       u_min : [-2.0, -0.25] # accel(m/s2), steer angle(rad)
       u_max : [2.0, 0.25]
-      sigmas : [0.5, 0.1] # sample range
+      sigmas : [0.5, 0.15] # sample range
       lambda : 1.0 
       auto_lambda : false
       # reference path
       DL : 0.1
-      lookahead_distance : 3.0
+      lookahead_distance : 0.3
       reference_path_interval : 0.85
       # cost weights
-      Qc : 2.0
-      Ql : 3.0
+      Qc : 20.0
+      Ql : 1.0
       Qv : 2.0
       Qo : 10000.0
       Qin : 0.01