Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(external_velocity_limit_selector): revert "refactor(external_velocity_limit_selector): rework parameter (#5238)" #1114

Merged
merged 1 commit into from
Jan 23, 2024
Merged

fix(external_velocity_limit_selector): revert "refactor(external_velocity_limit_selector): rework parameter (#5238)" #1114

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 11 additions & 1 deletion planning/external_velocity_limit_selector/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,17 @@ Example:

## Parameters

{{ json_to_markdown("planning/external_velocity_limit_selector/schema/external_velocity_limit_selector.schema.json") }}
| Parameter | Type | Description |
| ----------------- | ------ | ------------------------------------------ |
| `max_velocity` | double | default max velocity [m/s] |
| `normal.min_acc` | double | minimum acceleration [m/ss] |
| `normal.max_acc` | double | maximum acceleration [m/ss] |
| `normal.min_jerk` | double | minimum jerk [m/sss] |
| `normal.max_jerk` | double | maximum jerk [m/sss] |
| `limit.min_acc` | double | minimum acceleration to be observed [m/ss] |
| `limit.max_acc` | double | maximum acceleration to be observed [m/ss] |
| `limit.min_jerk` | double | minimum jerk to be observed [m/sss] |
| `limit.max_jerk` | double | maximum jerk to be observed [m/sss] |

## Assumptions / Known limits

Expand Down
4 changes: 4 additions & 0 deletions planning/external_velocity_limit_selector/config/default.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
/**:
ros__parameters:
# motion state constraints
max_velocity: 20.0 # max velocity limit [m/s]
15 changes: 15 additions & 0 deletions planning/external_velocity_limit_selector/config/default_common.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
/**:
ros__parameters:
# constraints param for normal driving
normal:
min_acc: -0.5 # min deceleration [m/ss]
max_acc: 1.0 # max acceleration [m/ss]
min_jerk: -0.5 # min jerk [m/sss]
max_jerk: 1.0 # max jerk [m/sss]

# constraints to be observed
limit:
min_acc: -2.5 # min deceleration limit [m/ss]
max_acc: 1.0 # max acceleration limit [m/ss]
min_jerk: -1.5 # min jerk limit [m/sss]
max_jerk: 1.5 # max jerk limit [m/sss]
18 changes: 0 additions & 18 deletions planning/external_velocity_limit_selector/config/external_velocity_limit_selector.param.yaml
View file
Open in desktop

This file was deleted.

6 changes: 4 additions & 2 deletions planning/external_velocity_limit_selector/launch/external_velocity_limit_selector.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
<launch>
<!-- common param -->
<arg name="external_velocity_limit_selector_param_path" default="$(find-pkg-share external_velocity_limit_selector)/config/external_velocity_limit_selector.param.yaml"/>
<arg name="common_param_path" default="$(find-pkg-share external_velocity_limit_selector)/config/default_common.param.yaml"/>
<arg name="param_path" default="$(find-pkg-share external_velocity_limit_selector)/config/default.param.yaml"/>

<!-- input/output -->
<arg name="input_velocity_limit_from_api" default="/planning/scenario_planning/max_velocity_default"/>
Expand All @@ -10,7 +11,8 @@
<arg name="output_debug_string" default="/planning/scenario_planning/external_velocity_limit_selector/debug"/>

<node pkg="external_velocity_limit_selector" exec="external_velocity_limit_selector" name="external_velocity_limit_selector" output="screen">
<param from="$(var external_velocity_limit_selector_param_path)"/>
<param from="$(var common_param_path)"/>
<param from="$(var param_path)"/>
<remap from="input/velocity_limit_from_api" to="$(var input_velocity_limit_from_api)"/>
<remap from="input/velocity_limit_from_internal" to="$(var input_velocity_limit_from_internal)"/>
<remap from="input/velocity_limit_clear_command_from_internal" to="$(var input_velocity_limit_clear_command_from_internal)"/>
Expand Down
85 changes: 0 additions & 85 deletions ...ning/external_velocity_limit_selector/schema/external_velocity_limit_selector.schema.json
View file
Open in desktop

This file was deleted.

Loading