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fix bit
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@tamago117
tamago117 committed Oct 24, 2024
1 parent e4a3be2 commit 71f9c50
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Showing 3 changed files with 35 additions and 33 deletions.
10 changes: 6 additions & 4 deletions ...lenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,10 @@
<group>
<push-ros-namespace namespace="control" />

<let name="steering_tire_angle_gain_var" value="1.0" if="$(var simulation)" />
<let name="steering_tire_angle_gain_var" value="1.639" unless="$(var simulation)" />

<let name="steering_tire_angle_gain_var" value="1.1" if="$(var simulation)" />
<!-- <let name="steering_tire_angle_gain_var" value="1.0" if="$(var simulation)" /> -->
<!-- <let name="steering_tire_angle_gain_var" value="1.639" unless="$(var simulation)" /> -->

<node pkg="simple_pure_pursuit" exec="simple_pure_pursuit" name="simple_pure_pursuit_node"
output="screen" unless="$(var use_stanley)">
Expand All @@ -18,8 +20,8 @@
<param name="lookahead_min_distance" value="4.0" />
<param name="speed_proportional_gain" value="3.0" />
<param name="steering_tire_angle_gain" value="$(var steering_tire_angle_gain_var)"/>
<param name="curve_param_max_steer_angle" value="0.15" />
<param name="curve_param_deceleration_vel" value="4.0" />
<param name="curve_param_max_steer_angle" value="0.25" />
<param name="curve_param_deceleration_vel" value="3.0" />
<remap from="input/kinematics" to="/localization/kinematic_state" />
<!-- global path or mppi-->
<remap from="input/trajectory" to="/planning/output/mppi_planned_path" />
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56 changes: 28 additions & 28 deletions aichallenge/workspace/src/aichallenge_submit/booars_launch/map/csv/traj_race_cl.csv
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Original file line number Diff line number Diff line change
Expand Up @@ -319,32 +319,32 @@
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2 changes: 1 addition & 1 deletion aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -156,7 +156,7 @@ void SimplePurePursuit::onTimer()
pub_cmd_->publish(cmd);

// publish real-machine command
cmd.lateral.steering_tire_angle /= steering_tire_angle_gain_;
//cmd.lateral.steering_tire_angle /= steering_tire_angle_gain_;
pub_raw_cmd_->publish(cmd);
}

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