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fix(trajectory_follower): change stop check speed threshold to almost 0 #473

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merged 2 commits into from
Mar 23, 2022
Merged

fix(trajectory_follower): change stop check speed threshold to almost 0 #473

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7b60421
fix(trajectory_follower): change stop check speed threshold to 0
TakaHoribe Mar 3, 2022
716b385
change default parameter
TakaHoribe Mar 23, 2022
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7 changes: 3 additions & 4 deletions control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -54,9 +54,9 @@
steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz]
error_deriv_lpf_cutoff_hz: 5.0

# stop state
stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.5
# stop state: steering command is kept in the previous value in the stop state.
stop_state_entry_ego_speed: 0.001
stop_state_entry_target_speed: 0.001

# vehicle parameters
mass_kg: 2400.0
Expand All @@ -66,4 +66,3 @@
mass_rr: 600.0
cf: 155494.663
cr: 155494.663

6 changes: 3 additions & 3 deletions launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -54,9 +54,9 @@
steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz]
error_deriv_lpf_cutoff_hz: 5.0

# stop state
stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.5
# stop state: steering command is kept in the previous value in the stop state.
stop_state_entry_ego_speed: 0.001
stop_state_entry_target_speed: 0.001

# vehicle parameters
vehicle:
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