chore: tune ppc param

AutomotiveAIChallenge · Sep 11, 2024 · 142918a · 142918a
1 parent 2300804
commit 142918a
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/aichallenge/workspace/src/aichallenge_launch/launch/aichallenge.launch.xml b/aichallenge/workspace/src/aichallenge_launch/launch/aichallenge.launch.xml
@@ -204,10 +204,10 @@
   </group>
 
   <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="use_external_target_vel" value="false"/>
     <param name="external_target_vel" value="8.0"/>
-    <param name="lookahead_gain" value="0.3"/>
-    <param name="lookahead_min_distance" value="4.0"/>
+    <param name="lookahead_gain" value="0.5"/>
+    <param name="lookahead_min_distance" value="3.0"/>
     <param name="speed_proportional_gain" value="1.0"/>
     <param name="steering_tire_angle_gain" value="1.639"/>