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18 changes: 18 additions & 0 deletions
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...rkspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
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/**: | ||
ros__parameters: | ||
update_rate: 10.0 | ||
map_frame_id: "map" | ||
costmap_center_frame_id: "base_link" | ||
costmap_width: 50.0 | ||
costmap_resolution: 0.2 | ||
multi_layered_costmap: | ||
layers: | ||
- "lanelet_layer" | ||
- "predicted_object_layer" | ||
lanelet_layer: | ||
type: "lanelet" | ||
map_topic: "/map/vector_map" | ||
predicted_object_layer: | ||
type: "predicted_object" | ||
predicted_objects_topic: "/perception/object_recognition/objects" | ||
distance_threshold: 1.2 |
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3 changes: 3 additions & 0 deletions
3
...c/aichallenge_submit/costmap/booars_costmap_generator/launch/costmap_generator.launch.xml
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<launch> | ||
<arg name="config_file" default="$(find-pkg-share booars_costmap_generator)/config/costmap_generator.param.yaml"/> | ||
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<arg name="costmap_topic" default="~/costmap"/> | ||
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<node pkg="booars_costmap_generator" exec="costmap_generator_node" name="costmap_generator" output="screen"> | ||
<param from="$(var config_file)"/> | ||
<remap from="~/output/costmap" to="$(var costmap_topic)"/> | ||
</node> | ||
</launch> |
1 change: 1 addition & 0 deletions
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aichallenge/workspace/src/aichallenge_submit/mppi_controller/.gitignore
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*.pyc |
26 changes: 26 additions & 0 deletions
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...llenge/workspace/src/aichallenge_submit/mppi_controller/config/mppi_controller.param.yaml
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/**: | ||
ros__parameters: | ||
# mppi | ||
horizon : 25 | ||
num_samples : 3000 | ||
u_min : [-2.0, -0.25] # accel(m/s2), steer angle(rad) | ||
u_max : [2.0, 0.25] | ||
sigmas : [0.5, 0.15] # sample range | ||
lambda : 1.0 | ||
auto_lambda : false | ||
# reference path | ||
DL : 0.1 | ||
lookahead_distance : 0.3 | ||
reference_path_interval : 0.85 | ||
# cost weights | ||
Qc : 20.0 | ||
Ql : 1.0 | ||
Qv : 2.0 | ||
Qo : 10000.0 | ||
Qin : 0.01 | ||
Qdin : 0.5 | ||
# model param | ||
delta_t : 0.1 | ||
vehicle_L : 1.0 | ||
V_MAX : 8.0 | ||
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