adjust param

aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml

@@ -13,7 +13,7 @@
         type: "cached_lanelet"
         map_topic: "/map/vector_map"
         costmap_topic: "~/debug/cached_costmap"
-        inflation_radius: 0.6 # [m]
+        inflation_radius: 1.8 # [m]
         cached_costmap:
           min_x: 89607.0  # [m]
           max_x: 89687.0  # [m]
@@ -23,4 +23,4 @@
       predicted_object_layer:
         type: "predicted_object"
         predicted_objects_topic: "/perception/object_recognition/objects"
-        distance_threshold: 1.2
+        distance_threshold: 1.3

aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml

@@ -0,0 +1,26 @@
+/**:
+  ros__parameters:
+      # mppi
+      horizon : 25
+      num_samples : 3000
+      u_min : [-2.0, -0.35] # accel(m/s2), steer angle(rad)
+      u_max : [2.0, 0.35]
+      sigmas : [0.5, 0.25] # sample range
+      lambda : 1.0 
+      auto_lambda : false
+      # reference path
+      DL : 0.1
+      lookahead_distance : 0.1
+      reference_path_interval : 0.8
+      # 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
+

aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/booars.launch.xml

@@ -9,7 +9,7 @@
   <arg name="sensor_model" default="racing_kart_sensor_kit" description="sensor model name"/>
 
   <!-- Optional parameters -->
-  <arg name="lanelet2_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
+  <arg name="lanelet2_file" default="lanelet2_map_opt.osm" description="lanelet2 map file name"/>
 
   <!-- Common -->
   <include file="$(find-pkg-share booars_launch)/launch/components/common.launch.xml">

aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml

@@ -5,7 +5,7 @@
     <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="0.4"/>
+      <param name="lookahead_gain" value="0.24"/>
       <param name="lookahead_min_distance" value="3.0"/>
       <param name="speed_proportional_gain" value="1.0"/>
 

aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml

@@ -114,7 +114,7 @@
 
     <!-- Local Planning -->
     <node pkg="mppi_controller" exec="mppi_controller_node" name="mppi_controller_node" output="screen">
-      <param from="$(find-pkg-share mppi_controller)/config/mppi_controller.param.yaml"/>
+      <param from="$(find-pkg-share booars_launch)/config/planning/mppi_controller.param.yaml"/>
       <remap from="input/kinematics" to="/localization/kinematic_state"/>
       <remap from="input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
       <!-- cost map -->