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fix(manual_controller): set PARK gear when going from reverse to drive #6230

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merged 2 commits into from
Mar 4, 2024
Merged

fix(manual_controller): set PARK gear when going from reverse to drive #6230

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332e084
fix(manual_controller): set PARK gear when going from reverse to drive
maxime-clem Jan 30, 2024
b3d0f71
Merge branch 'main' into fix/manual_controller-reverse
maxime-clem Mar 4, 2024
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54 changes: 18 additions & 36 deletions common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,14 +30,6 @@ using std::placeholders::_1;
namespace rviz_plugins
{

double lowpassFilter(
const double current_value, const double prev_value, double cutoff, const double dt)
{
const double tau = 1.0 / (2.0 * M_PI * cutoff);
const double a = tau / (dt + tau);
return prev_value * a + (1.0 - a) * current_value;
}

ManualController::ManualController(QWidget * parent) : rviz_common::Panel(parent)
{
auto * state_layout = new QHBoxLayout;
Expand Down Expand Up @@ -115,25 +107,23 @@ void ManualController::update()
ackermann.stamp = raw_node_->get_clock()->now();
ackermann.lateral.steering_tire_angle = steering_angle_;
ackermann.longitudinal.speed = cruise_velocity_;
if (current_acceleration_) {
/**
* @brief Calculate desired acceleration by simple BackSteppingControl
* V = 0.5*(v-v_des)^2 >= 0
* D[V] = (D[v] - a_des)*(v-v_des) <=0
* a_des = k_const *(v - v_des) + a (k < 0 )
*/
const double k = -0.5;
const double v = current_velocity_;
const double v_des = cruise_velocity_;
const double a = *current_acceleration_;
const double a_des = k * (v - v_des) + a;
ackermann.longitudinal.acceleration = std::clamp(a_des, -1.0, 1.0);
}
/**
* @brief Calculate desired acceleration by simple BackSteppingControl
* V = 0.5*(v-v_des)^2 >= 0
* D[V] = (D[v] - a_des)*(v-v_des) <=0
* a_des = k_const *(v - v_des) + a (k < 0 )
*/
const double k = -0.5;
const double v = current_velocity_;
const double v_des = cruise_velocity_;
const double a = current_acceleration_;
const double a_des = k * (v - v_des) + a;
ackermann.longitudinal.acceleration = std::clamp(a_des, -1.0, 1.0);
}
GearCommand gear_cmd;
{
const double eps = 0.001;
if (ackermann.longitudinal.speed > eps) {
if (ackermann.longitudinal.speed > eps && current_velocity_ > -eps) {
gear_cmd.command = GearCommand::DRIVE;
} else if (ackermann.longitudinal.speed < -eps && current_velocity_ < eps) {
gear_cmd.command = GearCommand::REVERSE;
Expand Down Expand Up @@ -220,19 +210,11 @@ void ManualController::onEngageStatus(const Engage::ConstSharedPtr msg)
void ManualController::onVelocity(const VelocityReport::ConstSharedPtr msg)
{
current_velocity_ = msg->longitudinal_velocity;
if (previous_velocity_) {
const double cutoff = 10.0;
const double dt = 1.0 / 10.0;
const double acc = (current_velocity_ - *previous_velocity_) / dt;
if (!current_acceleration_) {
current_acceleration_ = std::make_unique<double>(acc);
} else {
current_acceleration_ =
std::make_unique<double>(lowpassFilter(acc, *current_acceleration_, cutoff, dt));
}
}
previous_velocity_ = std::make_unique<double>(msg->longitudinal_velocity);
prev_stamp_ = rclcpp::Time(msg->header.stamp);
}

void ManualController::onAcceleration(const AccelWithCovarianceStamped::ConstSharedPtr msg)
{
current_acceleration_ = msg->accel.accel.linear.x;
}

void ManualController::onGear(const GearReport::ConstSharedPtr msg)
Expand Down
7 changes: 4 additions & 3 deletions common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
#include <rviz_common/panel.hpp>

#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
#include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/engage.hpp>
Expand All @@ -40,6 +41,7 @@ namespace rviz_plugins
using autoware_auto_control_msgs::msg::AckermannControlCommand;
using autoware_auto_vehicle_msgs::msg::GearCommand;
using autoware_auto_vehicle_msgs::msg::VelocityReport;
using geometry_msgs::msg::AccelWithCovarianceStamped;
using geometry_msgs::msg::Twist;
using tier4_control_msgs::msg::GateMode;
using EngageSrv = tier4_external_api_msgs::srv::Engage;
Expand Down Expand Up @@ -67,6 +69,7 @@ public Q_SLOTS: // NOLINT for Qt
void onPublishControlCommand();
void onGateMode(const GateMode::ConstSharedPtr msg);
void onVelocity(const VelocityReport::ConstSharedPtr msg);
void onAcceleration(const AccelWithCovarianceStamped::ConstSharedPtr msg);
void onEngageStatus(const Engage::ConstSharedPtr msg);
void onGear(const GearReport::ConstSharedPtr msg);
rclcpp::Node::SharedPtr raw_node_;
Expand All @@ -82,9 +85,7 @@ public Q_SLOTS: // NOLINT for Qt
double cruise_velocity_{0.0};
double steering_angle_{0.0};
double current_velocity_{0.0};
rclcpp::Time prev_stamp_;
std::unique_ptr<double> previous_velocity_;
std::unique_ptr<double> current_acceleration_;
double current_acceleration_{0.0};

QLabel * gate_mode_label_ptr_;
QLabel * gear_label_ptr_;
Expand Down
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