From bf253f52baaf350a1dff570efec4152621ce7d9d Mon Sep 17 00:00:00 2001 From: hrjp Date: Sun, 4 Aug 2024 20:07:38 +0900 Subject: [PATCH 01/13] pit in path --- aichallenge/result-details.json | 393940 +++++++++++++++ .../goal_pose_setter/package.xml | 1 + .../src/goal_pose_setter_node.cpp | 77 +- .../src/goal_pose_setter_node.hpp | 16 + 4 files changed, 394030 insertions(+), 4 deletions(-) create mode 100644 aichallenge/result-details.json diff --git a/aichallenge/result-details.json b/aichallenge/result-details.json new file mode 100644 index 00000000..64d5aeb2 --- /dev/null +++ b/aichallenge/result-details.json @@ -0,0 +1,393940 @@ +{ + "laps": [ + 44.045204162597659 + ], + "velocities": [ + { + "x": 0.02669966220855713, + "y": -0.03642750158905983, + "z": 2.151309013366699 + }, + { + "x": 0.026839613914489747, + "y": -0.031949639320373538, + "z": 2.167205810546875 + }, + { + "x": 0.02706509828567505, + "y": -0.02185751125216484, + "z": 2.183051824569702 + }, + { + "x": 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a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.cpp b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.cpp index b19c1bde..bffd18d5 100644 --- a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.cpp +++ b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.cpp @@ -12,6 +12,33 @@ GoalPosePublisher::GoalPosePublisher() : Node("goal_pose_publisher") odometry_subscriber_ = this->create_subscription( "/localization/kinematic_state", 1, std::bind(&GoalPosePublisher::odometry_callback, this, std::placeholders::_1)); + + pit_position_subscriber_ = this->create_subscription( + "/aichallenge/pitstop/area", 1, + [this](const std_msgs::msg::Float64MultiArray::SharedPtr msg) { + pit_position_.position.x = msg->data[0]; + pit_position_.position.y = msg->data[1]; + pit_position_.position.z = msg->data[2]; + pit_position_.orientation.x = msg->data[3]; + pit_position_.orientation.y = msg->data[4]; + pit_position_.orientation.z = msg->data[5]; + pit_position_.orientation.w = msg->data[6]; + }); + + pit_condition_subscriber_ = this->create_subscription( + "/aichallenge/pitstop/condition", 1, + [this](const std_msgs::msg::Int32::SharedPtr msg) { + pit_condition_ = msg->data; + }); + + pit_stop_time_subscriber_ = this->create_subscription( + "/aichallenge/pitstop/status", 1, + [this](const std_msgs::msg::Float32::SharedPtr msg) { + pit_stop_time_ = msg->data; + }); + + + timer_ = this->create_wall_timer( std::chrono::milliseconds(300), std::bind(&GoalPosePublisher::on_timer, this)); @@ -32,6 +59,14 @@ GoalPosePublisher::GoalPosePublisher() : Node("goal_pose_publisher") this->declare_parameter("half_goal.orientation.z", -0.9); this->declare_parameter("half_goal.orientation.w", 0.25); + this->declare_parameter("pit_goal.position.x", 89626.3671875); + this->declare_parameter("pit_goal.position.y", 43134.921875); + this->declare_parameter("pit_goal.position.z", 42.10000228881836); + this->declare_parameter("pit_goal.orientation.x", 0.0); + this->declare_parameter("pit_goal.orientation.y", 0.0); + this->declare_parameter("pit_goal.orientation.z", -0.8788172006607056); + this->declare_parameter("pit_goal.orientation.w", -0.47715866565704346); + this->declare_parameter("goal_range", 10.0); goal_position_.position.x = this->get_parameter("goal.position.x").as_double(); @@ -51,6 +86,15 @@ GoalPosePublisher::GoalPosePublisher() : Node("goal_pose_publisher") half_goal_position_.orientation.z = this->get_parameter("half_goal.orientation.z").as_double(); half_goal_position_.orientation.w = this->get_parameter("half_goal.orientation.w").as_double(); + pit_position_.position.x = this->get_parameter("pit_goal.position.x").as_double(); + pit_position_.position.y = this->get_parameter("pit_goal.position.y").as_double(); + pit_position_.position.z = this->get_parameter("pit_goal.position.z").as_double(); + pit_position_.orientation.x = this->get_parameter("pit_goal.orientation.x").as_double(); + pit_position_.orientation.y = this->get_parameter("pit_goal.orientation.y").as_double(); + pit_position_.orientation.z = this->get_parameter("pit_goal.orientation.z").as_double(); + pit_position_.orientation.w = this->get_parameter("pit_goal.orientation.w").as_double(); + + goal_range_ = this->get_parameter("goal_range").as_double(); } @@ -107,20 +151,45 @@ void GoalPosePublisher::odometry_callback(const nav_msgs::msg::Odometry::SharedP { if (!is_started_) return; - + //RCLCPP_INFO(this->get_logger(), "%lf",pit_position_.position.x ); // Publish half goal pose for loop if(half_goal_pose_published_ == false && - tier4_autoware_utils::calcDistance2d(msg->pose.pose, goal_position_) < goal_range_) + tier4_autoware_utils::calcDistance2d(msg->pose.pose, goal_position_) < goal_range_ + && pit_in_flag_ == false) { auto goal_pose = std::make_shared(); goal_pose->header.stamp = this->get_clock()->now(); goal_pose->header.frame_id = "map"; - goal_pose->pose = half_goal_position_; - + if(pit_condition_ >1000){ + goal_pose->pose = pit_position_; + pit_in_flag_ = true; + } + else{ + goal_pose->pose = half_goal_position_; + half_goal_pose_published_ = true; + } + goal_publisher_->publish(*goal_pose); RCLCPP_INFO(this->get_logger(), "Publishing half goal pose for loop"); + + } + + if(pit_in_flag_ == false && + tier4_autoware_utils::calcDistance2d(msg->pose.pose, pit_position_) < goal_range_ + && pit_stop_time_ > 3.1) + { + auto goal_pose = std::make_shared(); + goal_pose->header.stamp = this->get_clock()->now(); + goal_pose->header.frame_id = "map"; + goal_pose->pose = half_goal_position_; half_goal_pose_published_ = true; + pit_in_flag_ = false; + + goal_publisher_->publish(*goal_pose); + RCLCPP_INFO(this->get_logger(), "Publishing half goal pose for loop"); + } + // Publish goal pose for loop if (half_goal_pose_published_ == true && tier4_autoware_utils::calcDistance2d(msg->pose.pose, half_goal_position_) < goal_range_) diff --git a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.hpp b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.hpp index 0f4b3d20..79f121ce 100644 --- a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.hpp +++ b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.hpp @@ -17,6 +17,10 @@ #include +#include +#include +#include + #include #include #include @@ -24,6 +28,8 @@ #include #include + + class GoalPosePublisher : public rclcpp::Node { public: @@ -38,6 +44,11 @@ class GoalPosePublisher : public rclcpp::Node rclcpp::Publisher::SharedPtr goal_publisher_; rclcpp::Subscription::SharedPtr route_state_subscriber_; rclcpp::Subscription::SharedPtr odometry_subscriber_; + + rclcpp::Subscription::SharedPtr pit_position_subscriber_; + rclcpp::Subscription::SharedPtr pit_condition_subscriber_; + rclcpp::Subscription::SharedPtr pit_stop_time_subscriber_; + rclcpp::TimerBase::SharedPtr timer_; bool stop_initializing_pose_ = false; bool stop_streaming_goal_pose_ = false; @@ -47,6 +58,11 @@ class GoalPosePublisher : public rclcpp::Node float goal_range_; geometry_msgs::msg::Pose goal_position_; geometry_msgs::msg::Pose half_goal_position_; + + geometry_msgs::msg::Pose pit_position_; + int pit_condition_; + float pit_stop_time_; + bool pit_in_flag_ = false; }; #endif // GOAL_POSE_SETTER_NODE_ From 2557325861c61a4e12251bb14d074784160fc384 Mon Sep 17 00:00:00 2001 From: hrjp Date: Sun, 4 Aug 2024 21:46:15 +0900 Subject: [PATCH 02/13] chore: Update goal_pose_setter configuration to enable pit and adjust threshold --- aichallenge/result-details.json | 405318 +++++---------- .../config/default_goal_pose.param.yaml | 11 + .../src/goal_pose_setter_node.cpp | 8 +- .../src/goal_pose_setter_node.hpp | 3 + 4 files changed, 118827 insertions(+), 286513 deletions(-) diff --git a/aichallenge/result-details.json b/aichallenge/result-details.json index 64d5aeb2..73cc0269 100644 --- a/aichallenge/result-details.json +++ b/aichallenge/result-details.json @@ -1,48622 +1,48612 @@ { "laps": [ - 44.045204162597659 + 43.99519348144531 ], "velocities": [ { - "x": 0.02669966220855713, - "y": -0.03642750158905983, - "z": 2.151309013366699 + "x": 0.027212858200073243, + "y": -0.02968471311032772, + "z": 2.1552367210388185 }, { - "x": 0.026839613914489747, - "y": -0.031949639320373538, - "z": 2.167205810546875 + "x": 0.027353227138519288, + "y": -0.029220296069979669, + "z": 2.171067714691162 }, { - "x": 0.02706509828567505, - "y": -0.02185751125216484, - "z": 2.183051824569702 + "x": 0.027515292167663575, + "y": -0.03756396844983101, + "z": 2.1867599487304689 }, { - "x": 0.029119670391082765, - "y": -0.02883358858525753, - "z": 2.1987006664276125 + "x": 0.02846360206604004, + "y": -0.03328105807304382, + "z": 2.1986474990844728 }, { - "x": 0.02724248170852661, - "y": 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b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml index 32dae394..ff458cda 100644 --- a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml +++ b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml @@ -16,4 +16,15 @@ half_goal.orientation.z: -0.9 half_goal.orientation.w: 0.25 + pit_goal.position.x: 89626.3671875 + pit_goal.position.y: 43134.921875 + pit_goal.position.z: 42.10000228881836 + pit_goal.orientation.x: 0.0 + pit_goal.orientation.y: 0.0 + pit_goal.orientation.z: -0.8788172006607056 + pit_goal.orientation.w: -0.47715866565704346 + goal_range: 10.0 + + enable_pit: true + pit_in_threshold: 10 diff --git a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.cpp b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.cpp index bffd18d5..c161ec8b 100644 --- a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.cpp +++ b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.cpp @@ -69,6 +69,9 @@ GoalPosePublisher::GoalPosePublisher() : Node("goal_pose_publisher") this->declare_parameter("goal_range", 10.0); + this->declare_parameter("enable_pit", true); + this->declare_parameter("pit_in_threshold", 1000); + goal_position_.position.x = this->get_parameter("goal.position.x").as_double(); goal_position_.position.y = this->get_parameter("goal.position.y").as_double(); goal_position_.position.z = this->get_parameter("goal.position.z").as_double(); @@ -96,6 +99,9 @@ GoalPosePublisher::GoalPosePublisher() : Node("goal_pose_publisher") goal_range_ = this->get_parameter("goal_range").as_double(); + + enable_pit_ = this->get_parameter("enable_pit").as_bool(); + pit_in_threshold_ = this->get_parameter("pit_in_threshold").as_int(); } void GoalPosePublisher::on_timer() @@ -160,7 +166,7 @@ void GoalPosePublisher::odometry_callback(const nav_msgs::msg::Odometry::SharedP auto goal_pose = std::make_shared(); goal_pose->header.stamp = this->get_clock()->now(); goal_pose->header.frame_id = "map"; - if(pit_condition_ >1000){ + if(pit_condition_ > pit_in_threshold_ && enable_pit_ == true){ goal_pose->pose = pit_position_; pit_in_flag_ = true; } diff --git a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.hpp b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.hpp index 79f121ce..a712d9e8 100644 --- a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.hpp +++ b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.hpp @@ -63,6 +63,9 @@ class GoalPosePublisher : public rclcpp::Node int pit_condition_; float pit_stop_time_; bool pit_in_flag_ = false; + + bool enable_pit_ = true; + int pit_in_threshold_ = 1000; }; #endif // 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-0.41251668334007265 - } - }, - { - "position": { - "x": 358.5068054199219, - "y": 6.763347625732422, - "z": -18.944204330444337 - }, - "rotation": { - "x": 0.003672410501167178, - "y": 0.9109215140342712, - "z": 0.006208333186805248, - "w": -0.41251668334007265 - } - } - ], - "seed": -1821206020 -} diff --git a/aichallenge/workspace/.gitignore b/aichallenge/workspace/.gitignore index 4c288e3e..5b0559c6 100644 --- a/aichallenge/workspace/.gitignore +++ b/aichallenge/workspace/.gitignore @@ -1,3 +1,4 @@ /build /install /log +result-details.json \ No newline at end of file From 56b59259e117a301c135dacdaf87d841071a5379 Mon Sep 17 00:00:00 2001 From: hrjp Date: Wed, 4 Sep 2024 21:55:31 +0900 Subject: [PATCH 04/13] add pit in speed control --- aichallenge/.gitignore | 2 + .../launch/components/planning.launch.xml | 4 + .../booars_launch/map/lanelet2_map_opt.osm | 5710 +++++++++++++++++ .../path_to_trajectory/path_to_trajectory.hpp | 4 + .../src/path_to_trajectory.cpp | 23 + 5 files changed, 5743 insertions(+) create mode 100644 aichallenge/.gitignore create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map_opt.osm diff --git a/aichallenge/.gitignore b/aichallenge/.gitignore new file mode 100644 index 00000000..71c36e20 --- /dev/null +++ b/aichallenge/.gitignore @@ -0,0 +1,2 @@ +capture +result-details.json \ No newline at end of file diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml index 24425f1b..1d3eb996 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml @@ -97,6 +97,10 @@ + + + + diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map_opt.osm b/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map_opt.osm new file mode 100644 index 00000000..28d60946 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map_opt.osm @@ -0,0 +1,5710 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/include/path_to_trajectory/path_to_trajectory.hpp b/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/include/path_to_trajectory/path_to_trajectory.hpp index 8658c0e6..fcba08bd 100644 --- a/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/include/path_to_trajectory/path_to_trajectory.hpp +++ b/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/include/path_to_trajectory/path_to_trajectory.hpp @@ -32,6 +32,10 @@ class PathToTrajectory : public rclcpp::Node { void callback(const PathWithLaneId::SharedPtr msg); rclcpp::Subscription::SharedPtr sub_; rclcpp::Publisher::SharedPtr pub_; + double deceleration_; + double stop_offset_; + double max_speed_; + double traj_width_; }; #endif // PATH_TO_TRAJECTORY__PATH_TO_TRAJECTORY_HPP_ \ No newline at end of file diff --git a/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/src/path_to_trajectory.cpp b/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/src/path_to_trajectory.cpp index 5e078e56..3257394a 100644 --- a/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/src/path_to_trajectory.cpp +++ b/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/src/path_to_trajectory.cpp @@ -20,6 +20,16 @@ PathToTrajectory::PathToTrajectory() : Node("path_to_trajectory_node") { pub_ = this->create_publisher("output", 1); sub_ = this->create_subscription( "input", 1, std::bind(&PathToTrajectory::callback, this, _1)); + + this->declare_parameter("deceleration", -10.0); + this->declare_parameter("stop_offset", 3.0); + this->declare_parameter("max_speed", 30.0); + this->declare_parameter("traj_width", 1.0); + + deceleration_ = this->get_parameter("deceleration").as_double(); + stop_offset_ = this->get_parameter("stop_offset").as_double(); + max_speed_ = this->get_parameter("max_speed").as_double(); + traj_width_ = this->get_parameter("traj_width").as_double(); } void PathToTrajectory::callback(const PathWithLaneId::SharedPtr msg) { @@ -31,6 +41,19 @@ void PathToTrajectory::callback(const PathWithLaneId::SharedPtr msg) { trajectory_point.longitudinal_velocity_mps = path_point_with_lane_id.point.longitudinal_velocity_mps; trajectory.points.emplace_back(std::move(trajectory_point)); } + const double stop_time= max_speed_/std::abs(deceleration_); + const double dec_mpss=deceleration_/3.6; + const double speed_mps=max_speed_/3.6; + const double stop_dis=0.5*dec_mpss*stop_time*stop_time+speed_mps*stop_time+stop_offset_; + const int offset_index=stop_dis/traj_width_; + double v=speed_mps; + for(int i=0 ; ipublish(trajectory); } From 65e25702a78e48e26c4250116de9c6106346adbe Mon Sep 17 00:00:00 2001 From: hrjp Date: Wed, 4 Sep 2024 23:14:48 +0900 Subject: [PATCH 05/13] add spell --- .cspell.json | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.cspell.json b/.cspell.json index 7978a84c..419bb191 100644 --- a/.cspell.json +++ b/.cspell.json @@ -126,6 +126,7 @@ "tempature", "rsample", "coeffs", - "softplus" + "softplus", + "mpss" ] } From 4b88fbf09155b30225cbd9c0e7f8abefffaa10e7 Mon Sep 17 00:00:00 2001 From: hrjp Date: Thu, 5 Sep 2024 23:08:53 +0900 Subject: [PATCH 06/13] fixed bug --- .../config/default_goal_pose.param.yaml | 2 +- .../goal_pose_setter/src/goal_pose_setter_node.cpp | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml index ff458cda..3343a4e6 100644 --- a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml +++ b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml @@ -26,5 +26,5 @@ goal_range: 10.0 - enable_pit: true + enable_pit: false pit_in_threshold: 10 diff --git a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.cpp b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.cpp index 8ab353a2..c56d90f1 100644 --- a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.cpp +++ b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/src/goal_pose_setter_node.cpp @@ -159,7 +159,7 @@ void GoalPosePublisher::odometry_callback(const nav_msgs::msg::Odometry::SharedP return; //RCLCPP_INFO(this->get_logger(), "%lf",pit_position_.position.x ); // Publish half goal pose for loop - if(half_goal_pose_published_ == false && + if(half_goal_pose_published_ == true && tier4_autoware_utils::calcDistance2d(msg->pose.pose, goal_position_) < goal_range_ && pit_in_flag_ == false) { @@ -172,7 +172,7 @@ void GoalPosePublisher::odometry_callback(const nav_msgs::msg::Odometry::SharedP } else{ goal_pose->pose = half_goal_position_; - half_goal_pose_published_ = true; + half_goal_pose_published_ = false; } goal_publisher_->publish(*goal_pose); @@ -180,7 +180,7 @@ void GoalPosePublisher::odometry_callback(const nav_msgs::msg::Odometry::SharedP } - if(pit_in_flag_ == false && + if(pit_in_flag_ == true && tier4_autoware_utils::calcDistance2d(msg->pose.pose, pit_position_) < goal_range_ && pit_stop_time_ > 3.1) { @@ -188,7 +188,7 @@ void GoalPosePublisher::odometry_callback(const nav_msgs::msg::Odometry::SharedP goal_pose->header.stamp = this->get_clock()->now(); goal_pose->header.frame_id = "map"; goal_pose->pose = half_goal_position_; - half_goal_pose_published_ = true; + half_goal_pose_published_ = false; pit_in_flag_ = false; goal_publisher_->publish(*goal_pose); @@ -197,7 +197,7 @@ void GoalPosePublisher::odometry_callback(const nav_msgs::msg::Odometry::SharedP } // Publish goal pose for loop - if (half_goal_pose_published_ == true && + if (half_goal_pose_published_ == false && tier4_autoware_utils::calcDistance2d(msg->pose.pose, half_goal_position_) < goal_range_) { auto goal_pose = std::make_shared(); @@ -207,7 +207,7 @@ void GoalPosePublisher::odometry_callback(const nav_msgs::msg::Odometry::SharedP goal_publisher_->publish(*goal_pose); RCLCPP_INFO(this->get_logger(), "Publishing goal pose for loop"); - half_goal_pose_published_ = false; + half_goal_pose_published_ = true; } } From c987b5d275ea4b61046679c0b8896fcd9558a626 Mon Sep 17 00:00:00 2001 From: hrjp Date: Tue, 17 Sep 2024 22:25:18 +0900 Subject: [PATCH 07/13] add mission planner param --- .../config/planning/mission_planner.param.yaml | 13 +++++++++++++ .../launch/components/planning.launch.xml | 2 +- 2 files changed, 14 insertions(+), 1 deletion(-) create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mission_planner.param.yaml diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mission_planner.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mission_planner.param.yaml new file mode 100644 index 00000000..b9b3f32b --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mission_planner.param.yaml @@ -0,0 +1,13 @@ +/**: + ros__parameters: + map_frame: map + arrival_check_angle_deg: 45.0 + arrival_check_distance: 5.0 + arrival_check_duration: 1.0 + goal_angle_threshold_deg: 90.0 + enable_correct_goal_pose: false + reroute_time_threshold: 10.0 + minimum_reroute_length: 30.0 + consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not. + check_footprint_inside_lanes: false + allow_reroute_in_autonomous_mode: true \ No newline at end of file diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml index 3690e9b6..58933c24 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml @@ -13,7 +13,7 @@ - + From 668a223c2d86007969690531b212bc6ec184c05d Mon Sep 17 00:00:00 2001 From: hrjp Date: Wed, 18 Sep 2024 22:51:39 +0900 Subject: [PATCH 08/13] =?UTF-8?q?mission=20planner=20param=20=E8=AA=BF?= =?UTF-8?q?=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../booars_launch/config/planning/mission_planner.param.yaml | 4 ++-- .../goal_pose_setter/config/default_goal_pose.param.yaml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mission_planner.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mission_planner.param.yaml index b9b3f32b..a0aa4f74 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mission_planner.param.yaml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mission_planner.param.yaml @@ -1,8 +1,8 @@ /**: ros__parameters: map_frame: map - arrival_check_angle_deg: 45.0 - arrival_check_distance: 5.0 + arrival_check_angle_deg: 180.0 + arrival_check_distance: 30.0 arrival_check_duration: 1.0 goal_angle_threshold_deg: 90.0 enable_correct_goal_pose: false diff --git a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml index 3343a4e6..87370a7d 100644 --- a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml +++ b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml @@ -27,4 +27,4 @@ goal_range: 10.0 enable_pit: false - pit_in_threshold: 10 + pit_in_threshold: 20 From 5f6f968bf290552f582ff74bd759d4ac89b4878d Mon Sep 17 00:00:00 2001 From: hrjp Date: Wed, 18 Sep 2024 22:54:16 +0900 Subject: [PATCH 09/13] pitin ok --- .../goal_pose_setter/config/default_goal_pose.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml index 87370a7d..87732d8f 100644 --- a/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml +++ b/aichallenge/workspace/src/aichallenge_submit/goal_pose_setter/config/default_goal_pose.param.yaml @@ -26,5 +26,5 @@ goal_range: 10.0 - enable_pit: false + enable_pit: true pit_in_threshold: 20 From 233f48a476830556e3bab07d8f584b0527981b2e Mon Sep 17 00:00:00 2001 From: hrjp Date: Wed, 18 Sep 2024 23:26:40 +0900 Subject: [PATCH 10/13] =?UTF-8?q?param=20file=E3=82=92booars=5Flaunch?= =?UTF-8?q?=E3=81=AB=E7=A7=BB=E8=A1=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../launch/aichallenge_submit.launch.xml | 2 +- .../config/planning/goal_pose.param.yaml | 31 +++++++++++++++++++ .../launch/components/planning.launch.xml | 4 +++ 3 files changed, 36 insertions(+), 1 deletion(-) create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml diff --git a/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml b/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml index 510f861c..0590fef3 100644 --- a/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml @@ -5,6 +5,6 @@ - + diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml new file mode 100644 index 00000000..6b8c29d8 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml @@ -0,0 +1,31 @@ +/**: + ros__parameters: + goal.position.x: 89653.7 + goal.position.y: 43122.5 + goal.position.z: 0.0 + goal.orientation.x: 0.0 + goal.orientation.y: 0.0 + goal.orientation.z: -0.971732 + goal.orientation.w: 0.236088 + + half_goal.position.x: 89657.0 + half_goal.position.y: 43175.0 + half_goal.position.z: -28.0 + half_goal.orientation.x: 0.0 + half_goal.orientation.y: 0.0 + half_goal.orientation.z: -0.9 + half_goal.orientation.w: 0.25 + + pit_goal.position.x: 89626.3671875 + pit_goal.position.y: 43134.921875 + pit_goal.position.z: 42.10000228881836 + pit_goal.orientation.x: 0.0 + pit_goal.orientation.y: 0.0 + pit_goal.orientation.z: -0.8788172006607056 + pit_goal.orientation.w: -0.47715866565704346 + # ゴールまでの距離がこの値以下になると次のゴールを配信する + goal_range: 10.0 + # ピットインを有効化するか + enable_pit: true + # このしきい値以下になるとピットイン + pit_in_threshold: 1000 diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml index 58933c24..0de0e48e 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml @@ -97,9 +97,13 @@ + + + + From a2dbd9e2f9b9378fa503eea1c329c2afdefef210 Mon Sep 17 00:00:00 2001 From: hrjp Date: Wed, 18 Sep 2024 23:34:53 +0900 Subject: [PATCH 11/13] fix typo --- .../booars_launch/config/planning/goal_pose.param.yaml | 2 +- .../booars_launch/launch/components/planning.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml index 6b8c29d8..5b053b66 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml @@ -24,7 +24,7 @@ pit_goal.orientation.z: -0.8788172006607056 pit_goal.orientation.w: -0.47715866565704346 # ゴールまでの距離がこの値以下になると次のゴールを配信する - goal_range: 10.0 + goal_range: 30.0 # ピットインを有効化するか enable_pit: true # このしきい値以下になるとピットイン diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml index 0de0e48e..0f1b2e48 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml @@ -103,7 +103,7 @@ - + From 2929c9a36dfb797ba8243f646f29360577ba17ba Mon Sep 17 00:00:00 2001 From: tamago117 Date: Sun, 22 Sep 2024 01:26:17 +0900 Subject: [PATCH 12/13] parameter tuning --- .../planning/costmap_generator.param.yaml | 4 +- .../config/planning/goal_pose.param.yaml | 5 +- .../planning/mppi_controller.param.yaml | 18 +- .../launch/components/control.launch.xml | 6 +- .../launch/components/planning.launch.xml | 2 +- .../booars_launch/map/lanelet2_map_opt.osm | 2512 +++----- .../map/lanelet2_map_opt_pre.osm | 5710 +++++++++++++++++ .../src/path_to_trajectory.cpp | 7 +- .../src/simple_pure_pursuit.cpp | 32 +- .../config/autoware.rviz | 37 +- 10 files changed, 6616 insertions(+), 1717 deletions(-) create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map_opt_pre.osm diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml index ea3e4422..1e522579 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml @@ -4,7 +4,7 @@ map_frame_id: "map" costmap_center_frame_id: "base_link" costmap_width: 50.0 # [m] - costmap_resolution: 0.2 # [m/cell] + costmap_resolution: 0.1 # [m/cell] multi_layered_costmap: layers: - "cached_lanelet_layer" @@ -13,7 +13,7 @@ type: "cached_lanelet" map_topic: "/map/vector_map" costmap_topic: "~/debug/cached_costmap" - inflation_radius: 1.8 # [m] + inflation_radius: 1.4 # [m] cached_costmap: min_x: 89607.0 # [m] max_x: 89687.0 # [m] diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml index 5b053b66..7f21479c 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml @@ -24,8 +24,9 @@ pit_goal.orientation.z: -0.8788172006607056 pit_goal.orientation.w: -0.47715866565704346 # ゴールまでの距離がこの値以下になると次のゴールを配信する - goal_range: 30.0 + goal_range: 10.0 # ピットインを有効化するか enable_pit: true # このしきい値以下になるとピットイン - pit_in_threshold: 1000 + # pit_in_threshold: 100 + pit_in_threshold: 700 \ No newline at end of file diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml index ca77d864..def6c69d 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml @@ -2,10 +2,10 @@ 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 + num_samples : 4000 + u_min : [-4.0, -0.35] # accel(m/s2), steer angle(rad) + u_max : [3.0, 0.35] + sigmas : [2.0, 0.35] # sample range lambda : 1.0 auto_lambda : false # reference path @@ -13,14 +13,14 @@ lookahead_distance : 0.1 reference_path_interval : 0.8 # cost weights - Qc : 20.0 + Qc : 10.0 Ql : 1.0 - Qv : 2.0 - Qo : 10000.0 + Qv : 4.0 + Qo : 1000.0 Qin : 0.01 Qdin : 0.5 # model param delta_t : 0.1 - vehicle_L : 1.0 - V_MAX : 8.0 + vehicle_L : 1.08 + V_MAX : 8.33 diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml index 529b944a..1e784335 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml @@ -8,11 +8,11 @@ - + - - + + diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml index 0f1b2e48..e41ec3c7 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml @@ -98,7 +98,7 @@ - + diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map_opt.osm b/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map_opt.osm index 28d60946..3754ea01 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map_opt.osm +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/lanelet2_map_opt.osm @@ -1,4850 +1,4042 @@ - - - + + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - - - + + + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - + - - + - - + - - - - + + + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - 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+ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/src/path_to_trajectory.cpp b/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/src/path_to_trajectory.cpp index 3257394a..604d9a53 100644 --- a/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/src/path_to_trajectory.cpp +++ b/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/src/path_to_trajectory.cpp @@ -51,8 +51,11 @@ void PathToTrajectory::callback(const PathWithLaneId::SharedPtr msg) { const double t= traj_width_/v; v+=dec_mpss*t; v=std::max(0.0,v); - trajectory.points.at(trajectory.points.size()-offset_index+i).longitudinal_velocity_mps - =std::min(float(v), trajectory.points.at(trajectory.points.size()-offset_index+i).longitudinal_velocity_mps); + int index = trajectory.points.size() - offset_index + i; + if (index >= 0 && index < trajectory.points.size()) { + trajectory.points.at(index).longitudinal_velocity_mps + = std::min(float(v), trajectory.points.at(index).longitudinal_velocity_mps); + } } pub_->publish(trajectory); } diff --git a/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp b/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp index 736185e1..fa4d7fc5 100644 --- a/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp +++ b/aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp @@ -76,18 +76,9 @@ void SimplePurePursuit::onTimer() // get closest trajectory point from current position TrajectoryPoint closet_traj_point = trajectory_->points.at(closet_traj_point_idx); - // calc longitudinal speed and acceleration - double target_longitudinal_vel = - use_external_target_vel_ ? external_target_vel_ : closet_traj_point.longitudinal_velocity_mps; - double current_longitudinal_vel = odometry_->twist.twist.linear.x; - - cmd.longitudinal.speed = target_longitudinal_vel; - cmd.longitudinal.acceleration = - speed_proportional_gain_ * (target_longitudinal_vel - current_longitudinal_vel); - // calc lateral control //// calc lookahead distance - double lookahead_distance = lookahead_gain_ * target_longitudinal_vel + lookahead_min_distance_; + double lookahead_distance = lookahead_gain_ * closet_traj_point.longitudinal_velocity_mps + lookahead_min_distance_; //// calc center coordinate of rear wheel double rear_x = odometry_->pose.pose.position.x - wheel_base_ / 2.0 * std::cos(odometry_->pose.pose.orientation.z); @@ -105,6 +96,15 @@ void SimplePurePursuit::onTimer() } double lookahead_point_x = lookahead_point_itr->pose.position.x; double lookahead_point_y = lookahead_point_itr->pose.position.y; + + // calc longitudinal speed and acceleration + double target_longitudinal_vel = + use_external_target_vel_ ? external_target_vel_ : lookahead_point_itr->longitudinal_velocity_mps; + double current_longitudinal_vel = odometry_->twist.twist.linear.x; + + cmd.longitudinal.speed = target_longitudinal_vel; + cmd.longitudinal.acceleration = + speed_proportional_gain_ * (target_longitudinal_vel - current_longitudinal_vel); { // publish lookahead point marker auto marker_msg = Marker(); @@ -131,10 +131,14 @@ void SimplePurePursuit::onTimer() mkr_cmd_->publish(marker_msg); } // calc steering angle for lateral control - double alpha = std::atan2(lookahead_point_y - rear_y, lookahead_point_x - rear_x) - - tf2::getYaw(odometry_->pose.pose.orientation); - cmd.lateral.steering_tire_angle = - std::atan2(2.0 * wheel_base_ * std::sin(alpha), lookahead_distance); + if (std::hypot(lookahead_point_x - rear_x, lookahead_point_y - rear_y) < lookahead_min_distance_) { + cmd.lateral.steering_tire_angle = 0.0; + } else { + double alpha = std::atan2(lookahead_point_y - rear_y, lookahead_point_x - rear_x) - + tf2::getYaw(odometry_->pose.pose.orientation); + cmd.lateral.steering_tire_angle = + std::atan2(2.0 * wheel_base_ * std::sin(alpha), lookahead_distance); + } } pub_cmd_->publish(cmd); } diff --git a/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/autoware.rviz b/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/autoware.rviz index ba3f9b7b..71b99a61 100644 --- a/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/autoware.rviz +++ b/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/autoware.rviz @@ -8,11 +8,10 @@ Panels: - /Planning1/ScenarioPlanning1/ScenarioTrajectory1 - /Planning1/ScenarioPlanning1/ScenarioTrajectory1/View Path1 - /Planning1/Costmap1/Map1 - - /Planning1/MPPI1/Trajectory1 - - /Planning1/MPPI1/ReferenceTrajectory1 + - /Planning1/MPPI1 - /Planning1/MPPI1/ReferenceTrajectory1/View Path1 Splitter Ratio: 0.557669460773468 - Tree Height: 158 + Tree Height: 140 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -725,12 +724,7 @@ Visualization Manager: Color: 119; 11; 32 Name: PredictedObjects Namespaces: - acceleration: true - label: true - shape: true - twist: true - uuid: true - velocity: true + {} PEDESTRIAN: Alpha: 0.9990000128746033 Color: 255; 192; 203 @@ -833,11 +827,7 @@ Visualization Manager: Enabled: true Name: RouteArea Namespaces: - goal_lanelets: true - lane_start_bound: false - left_lane_bound: false - right_lane_bound: false - route_lanelets: true + {} Topic: Depth: 5 Durability Policy: Transient Local @@ -1240,8 +1230,7 @@ Visualization Manager: Enabled: true Name: Bound Namespaces: - left_bound: true - right_bound: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2012,7 +2001,7 @@ Visualization Manager: Value: true - Class: rviz_plugins/Trajectory Color Border Vel Max: 3 - Enabled: true + Enabled: false Name: ReferenceTrajectory Topic: Depth: 5 @@ -2021,7 +2010,7 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /planning/debug/path - Value: true + Value: false View Footprint: Alpha: 1 Color: 230; 230; 50 @@ -2128,7 +2117,7 @@ Visualization Manager: Enabled: true Name: MarkerArray Namespaces: - "": true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2311,12 +2300,12 @@ Window Geometry: collapsed: false Displays: collapsed: false - Height: 1043 + Height: 963 Hide Left Dock: false Hide Right Dock: false InitialPoseButtonPanel: collapsed: false - QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: @@ -2325,6 +2314,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1920 - X: 0 - Y: 32 + Width: 1440 + X: 240 + Y: 112 From d0ea6523da180d069e9dc59b0d9271b3dede4d78 Mon Sep 17 00:00:00 2001 From: tamago117 Date: Sun, 29 Sep 2024 13:43:21 +0900 Subject: [PATCH 13/13] parameter update --- .../booars_launch/config/planning/costmap_generator.param.yaml | 2 +- .../booars_launch/config/planning/mppi_controller.param.yaml | 2 +- .../booars_launch/launch/components/planning.launch.xml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml index 1e522579..837ffc2d 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml @@ -23,4 +23,4 @@ predicted_object_layer: type: "predicted_object" predicted_objects_topic: "/perception/object_recognition/objects" - distance_threshold: 1.3 + distance_threshold: 1.2 diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml index def6c69d..35ba01cc 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml @@ -18,7 +18,7 @@ Qv : 4.0 Qo : 1000.0 Qin : 0.01 - Qdin : 0.5 + Qdin : 0.0 # model param delta_t : 0.1 vehicle_L : 1.08 diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml index e41ec3c7..dd64fadc 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml @@ -100,7 +100,7 @@ - +