From 51dbfe270817d2642622a99f85082130d739e033 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 19 Dec 2024 13:22:07 +0900 Subject: [PATCH 1/3] feat: remove emergency_state_traj_{trans/rot}_dev from trajectory_follower (#1283) * feat: remove emergency_state_traj_{trans/rot}_dev from trajectory_follower Signed-off-by: Takayuki Murooka * update codeowner Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .github/CODEOWNERS-manual | 2 +- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 -- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/.github/CODEOWNERS-manual b/.github/CODEOWNERS-manual index a27c2cc109..5415bc479e 100644 --- a/.github/CODEOWNERS-manual +++ b/.github/CODEOWNERS-manual @@ -1,7 +1,7 @@ # /** # .github/** autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodrive.ai -autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp +autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp kosuke.takeuchi@tier4.jp yuki.takagi@tier4.jp alqudah.mohammad@tier4.jp autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index 463bb2b11d..c011c67430 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -16,8 +16,6 @@ stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 - emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7854 # drive state kp: 1.0 From 3abce1f889a1483448203ec6d4a1b9b40df50310 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 19 Dec 2024 13:23:49 +0900 Subject: [PATCH 2/3] feat: add velocity control virtual wall (#1285) Signed-off-by: Takayuki Murooka --- autoware_launch/rviz/autoware.rviz | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index aa633edcaf..3f029ff75d 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2464,6 +2464,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /control/autonomous_emergency_braking/virtual_wall Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (velocity control) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/virtual_wall + Value: true Enabled: true Name: VirtualWall - Class: rviz_default_plugins/Marker From 67933deba498097ad0bddbe2d8b093f3e4f2508c Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 19 Dec 2024 13:25:02 +0900 Subject: [PATCH 3/3] feat: remove admissible_{position/yaw}_error from trajectory_follower (#1284) Signed-off-by: Takayuki Murooka --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index b358e95f86..1d30a28d05 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -3,8 +3,6 @@ # -- system -- traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory # -- path smoothing --