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chore(control): parameterization control mode #32

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merged 2 commits into from
Sep 5, 2024
Merged

chore(control): parameterization control mode #32

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9f31a98
create use_stanley param
Autumn60 Sep 4, 2024
8e1202e
Update aichallenge/workspace/src/aichallenge_submit/booars_launch/lau…
Autumn60 Sep 5, 2024
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50 changes: 28 additions & 22 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
@@ -1,30 +1,36 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- Parameters -->
<arg name="use_stanley" default="false" />

<group>
<push-ros-namespace namespace="control"/>
<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_min_distance" value="3.0"/>
<param name="speed_proportional_gain" value="1.0"/>
<push-ros-namespace namespace="control" />

<node pkg="simple_pure_pursuit" exec="simple_pure_pursuit" name="simple_pure_pursuit_node"
output="screen" unless="$(var use_stanley)">
<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_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/output/mppi_planned_path" />
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<remap from="output/control_cmd" to="/control/command/control_cmd" />
</node>

<remap from="input/kinematics" to="/localization/kinematic_state"/>
<!-- <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 pkg="stanley_control" exec="stanley_control" name="stanley_control_node" output="screen"
if="$(var use_stanley)">
<param name="speed_proportional_gain" value="2.14" />
<param name="external_target_vel" value="8.0" />
<param name="k_gain" value="2.0" />
<param name="k_gain_slow" value="1.0" />
<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="output/control_cmd" to="/control/command/control_cmd" />
</node>
<!-- stanley control -->
<!-- <node pkg="stanley_control" exec="stanley_control" name="stanley_control_node" output="screen">
<param name="speed_proportional_gain" value="2.14"/>
<param name="external_target_vel" value="8.0"/>
<param name="k_gain" value="2.0"/>
<param name="k_gain_slow" value="1.0"/>
<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="output/control_cmd" to="/control/command/control_cmd"/>
</node> -->
<!-- speed_proportional_gain: P gain for speed control -->
<!-- external_target_vel: Target speed -->
<!-- k_gain: Gain to determine additional steering based on speed -->
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