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

Jump to bottom

Feature/add pit in control #15

Closed
wants to merge 16 commits into from
Closed

Feature/add pit in control #15

wants to merge 16 commits into from

Conversation

hrjp
Copy link
Member

@hrjp hrjp commented Aug 21, 2024

No description provided.

@Autumn60 Autumn60 marked this pull request as ready for review September 18, 2024 13:45
@Autumn60 Autumn60 requested review from a team and Autumn60 as code owners September 18, 2024 13:45
@hrjp hrjp requested a review from tamago117 September 18, 2024 13:55
@hrjp
Copy link
Member Author

hrjp commented Sep 18, 2024

ピットインのパラメータ

aichallenge-2024/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml

Lines 26 to 31 in 233f48a

# ゴールまでの距離がこの値以下になると次のゴールを配信する
goal_range: 10.0
# ピットインを有効化するか
enable_pit: true
# このしきい値以下になるとピットイン
pit_in_threshold: 1000

停止時の速度計画のパラメータ

aichallenge-2024/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml

Lines 100 to 107 in 233f48a

<!-- 減速度 -->
<param name="deceleration" value="-10.0"/>
<!-- ピットの何メートル前で速度を0にするか -->
<param name="stop_offset" value="3.0"/>
<!-- 最高速度 -->
<param name="max_speed" value="30.0"/>
<!-- trajecotryの点の間隔 -->
<param name="traj_width" value="1.0"/>

@tamago117 tamago117 requested a review from sitahara as a code owner September 21, 2024 16:26
tamago117
tamago117 previously approved these changes Sep 21, 2024
View reviewed changes
Copy link

@tamago117 tamago117 left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

ちょっとparameterの方調整して、うまく動くようにしておきました。いいと思います

hrjp
hrjp commented Oct 2, 2024
View reviewed changes
Copy link
Member Author

@hrjp hrjp left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

ローカルのシミュレーターで動作OK

@Autumn60 Autumn60 mentioned this pull request Oct 2, 2024
Merged
@Autumn60
Copy link

Autumn60 commented Oct 3, 2024

#52 でマージされたためClose

@Autumn60 Autumn60 closed this Oct 3, 2024
booars-bot bot pushed a commit that referenced this pull request Oct 19, 2024
@knorrrr @yusuke-y819
@Arata-Stu @hamadayo @Tom-Sawada705 @peregrine-884 @toki-1441 @masahiro-kubota
feat: run zenoh under aic container (AutomotiveAIChallenge#150)
a769e47 
* feat: add mpc pid (yosen param) (#1)

* feat(rviz): rviz visualize (#2)

* Revert "remove debug"

This reverts commit 1d10963.

* add multi_data_monitor

* add multi_data_monitor depends

* add multidatamonitor(accel brake steer)

* update rviz

* update readme

* add control_cmd

* chore: add terminator and remove eval record (#3)

* feat: add section timer (#5)

* save

* feat: add section and lap timer for debug

* feat: add section and lap timer

* feat(rviz, plogjuggler): update vizualizer (#6)

* add mps

* set colors properly

* add mpc pid multidatamonitor

* chore add mpc

* add measured

* update rviz

* add mpc plotjuggler

* fix plotjuggler config

* add localizer plotjuggler

* multidata monitor add deg rad conversion

* update plotjuggler localizer(yaw)

* multidatamonitor reduce digits

* chore digits multidatamonitor

* chore: add bash script (#7)

* chore: del sensor noise (#8)

* feat: parameterized cov (#9)

* feat: add mpc pid from awsim stable autoware (#10)

* feat: add rap time launch and visualize (#11)

* feat: add gnss frame id changer (#12)

* frame_id変換のためのノード追加

* fix: pose_cov_transformer.cpp

pose_positionの計算の修正を行いました

---------

Co-authored-by: Tom Sawada <160597893+Tom-Sawada705@users.noreply.github.com>

* feat: add path_to_trajectory (#4)

* wip

* feat

* feat

* wip

* wip

* wip

* Delete aichallenge/result-details.json

* fix: run_simulator.bash

パスについて、AWSIM_GPUからAWSIMに戻しました

---------

Co-authored-by: knorrrr <99851410+knorrrr@users.noreply.github.com>
Co-authored-by: Tom Sawada <160597893+Tom-Sawada705@users.noreply.github.com>

* fix thread and add parameter

* fix culclation bug

* fix pose cov to pose

* feat: add vehicle state culculator (#14)

* Fix/dockerfile (#15)

* fix:Dockerfile

* fix:Dockerfile2

* fix: Dockerfile

---------

Co-authored-by: toki-1441 <abc@example.com>

* Fix/autoware.bash (#16)

* fix:Dockerfile

* fix:Dockerfile2

* fix: Dockerfile

* fix:reference.launch.xml

---------

Co-authored-by: toki-1441 <abc@example.com>

* change custom_msgs to csv_path_changer_msg (#17)

* feat: add section  timer with diffrence between best and current lap (#19)

* feat: replay rosbag (#20)

* cp reference

* cp reference

* separate rosbag and simreal

* launch branch is_rosbag

* add rosbag and launch script

* fix launch args(effects pose timestamp, resulting ekf error)

* path chagne

* add separate rosbag

* add separate rosbag

* update localizer plotjuggler

* plotjuggler add linear vel

* update lozalizer pltjuggler

* del unnecessary launch(planning)

* diable planning when is_rosbag

* add trajectory editor (#23)

* /localization/kinematic_stateのframe_idをmapからbase_linkに変換する (#24)

* feat: add imu raw frame id changer

* add sensor_msg depends

* feat: add true gps module and edit reference launch (#27)

* feat: add true gps module and edit reference launch

* Update aichallenge/workspace/src/aichallenge_submit/gps_module/src/true_gps_module.cpp

---------

Co-authored-by: knorrrr <99851410+knorrrr@users.noreply.github.com>

* fix: weaving speed (#30)

* feat: pose transformer add gnss (#26)

* publish gnss pose

* update plotjuggler

* update plt

* update plotjuggler

* add comment out

* update plotjuggler

* chore change rosbag filename

* chore: add reference launch ekf parameter (#28)

* doc: change README for error handling (#33)

* chore: change run_replay_rosbag_autoware.sh (#32)

* add reference launch ekf parameter (#31)

* feat: edit initial value of best time, inf to 999.9 (#34)

* feat: use original gnss (#36)

* update pose transformer

* update reference

* fix launch error

* fix(gps_module)pose to posestamped

* update reference launch

* use gnss original covariance

* update plotjuggler

* can change gnss cov

* parameterized gnss module cov

* update rviz

* update gpss param

* publish original pose when interface rosbag

* add sensor data covariance monitor (#37)

* update editor

* feat: command line

* fix: 権限付与

* feat: edit and add  Arata`s dicripttion of MPC param (#40)

* feat: rap time difference from best time (#41)

* ベストタイムとの差分の表示を追加

* update digits all 2

---------

Co-authored-by: knorrrr <kunotomoki61@gmail.com>

* feat: add pid mpc prefix (#29)

* ref: change param (pid)

* ref: add coment out

* ref: params

* fix: yaml

* fix merge

---------

Co-authored-by: knorrrr <kunotomoki61@gmail.com>

* fix: run csv_editor node (#35)

* fix: calc gps orientation (#38)

* refactor

* fix

* separate host ecu launch

* add  vehicle plotjuggler

* doc: Update README.md (#42)

* init param controller

* add cmd

* fix crush problem

* wip does not load env var before zenoh

* set env var

* appky precommit

* remove duplicate in dockerfile

* add host network setting

* revert: delete host network setting

Signed-off-by: Masahiro Kubota <norikenpi@gmail.com>

* style: fix line breaks

Signed-off-by: Masahiro Kubota <norikenpi@gmail.com>

---------

Signed-off-by: Masahiro Kubota <norikenpi@gmail.com>
Co-authored-by: yusuke-y819 <106212734+yusuke-y819@users.noreply.github.com>
Co-authored-by: Arata-Stu <147399193+Arata-Stu@users.noreply.github.com>
Co-authored-by: hamadayo <127585205+hamadayo@users.noreply.github.com>
Co-authored-by: Tom Sawada <160597893+Tom-Sawada705@users.noreply.github.com>
Co-authored-by: hayato-hayashi <127586175+hayato-hayashi@users.noreply.github.com>
Co-authored-by: toki-1441 <99853770+toki-1441@users.noreply.github.com>
Co-authored-by: toki-1441 <abc@example.com>
Co-authored-by: hamadayo <hama.hocoroco@outlook.jp>
Co-authored-by: toki-1441 <toki_haya_41@icloud.com>
Co-authored-by: Masahiro Kubota <norikenpi@gmail.com>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@tamago117 tamago117 tamago117 left review comments

@Autumn60 Autumn60 Awaiting requested review from Autumn60 Autumn60 is a code owner

@sitahara sitahara Awaiting requested review from sitahara sitahara is a code owner

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
3 participants
@hrjp @Autumn60 @tamago117