From 82fd4abae78302c80a82107b2aab1f9ecced89e1 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi Date: Sun, 4 Feb 2024 17:48:52 +0900 Subject: [PATCH] feat(mpc): apply jpntaxi to add parameter for debug trajectory publisher Signed-off-by: Shumpei Wakabayashi --- .../config/control/trajectory_follower/1/lateral/mpc.param.yaml | 2 ++ .../config/control/trajectory_follower/2/lateral/mpc.param.yaml | 2 ++ .../config/control/trajectory_follower/3/lateral/mpc.param.yaml | 2 ++ .../config/control/trajectory_follower/4/lateral/mpc.param.yaml | 2 ++ .../config/control/trajectory_follower/5/lateral/mpc.param.yaml | 2 ++ .../config/control/trajectory_follower/6/lateral/mpc.param.yaml | 2 ++ .../config/control/trajectory_follower/7/lateral/mpc.param.yaml | 2 ++ .../config/control/trajectory_follower/9/lateral/mpc.param.yaml | 2 ++ .../trajectory_follower/awsim_jpt/lateral/mpc.param.yaml | 2 ++ 9 files changed, 18 insertions(+) diff --git a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml index bc4b336a30..7ab78d105f 100644 --- a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml @@ -74,3 +74,5 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 + + debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate diff --git a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml index bc4b336a30..7ab78d105f 100644 --- a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml @@ -74,3 +74,5 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 + + debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate diff --git a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml index bc4b336a30..7ab78d105f 100644 --- a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml @@ -74,3 +74,5 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 + + debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate diff --git a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml index d85c9ae81a..10f8001379 100644 --- a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml @@ -74,3 +74,5 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 + + debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate diff --git a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml index 6fba1855b9..789dc6de4b 100644 --- a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml @@ -74,3 +74,5 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 + + debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate diff --git a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml index bc4b336a30..7ab78d105f 100644 --- a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml @@ -74,3 +74,5 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 + + debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate diff --git a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml index bc4b336a30..7ab78d105f 100644 --- a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml @@ -74,3 +74,5 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 + + debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate diff --git a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml index bc4b336a30..7ab78d105f 100644 --- a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml @@ -74,3 +74,5 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 + + debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate diff --git a/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml index bc4b336a30..7ab78d105f 100644 --- a/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml @@ -74,3 +74,5 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 + + debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate