fix: improve ekf_localizer processing time #59
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Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
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* chore: decrease pose_smoothing_step 5->1 (#59) (#60) * feat: add sensorkit swtching (#57) * feat: add sensor kit change for simulation * chore: add ignore and pre-commit fix * chore: aichallenge/workspace/.gitignore Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * fix: add simulation arg --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * chore: disable localhost only (#86) * feat: set same launch as source build (#82) * feat: add tunable param * feat: set same launch as source build * fix: modify sensor configuration (#50) Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * feat: add steer tire angle gain (#67) * feat: add steering tire angle gain Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * fix: modify steering_tire_angle_gain according to rosbag Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> --------- Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * feat: draft accel brake map (#70) * chore: remove unused param * feat:draft accel brake map * fix: modify angular velocity offset (#69) * fix: modify angular velocity offset Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * modify Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> --------- Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * feat: add raw publisher (#71) * fix: source build build fix control point size (#73) * chore: decrease min point size and acc * Update aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * Update aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * feat: add pure pursuit debug (#74) * fix: ll2 interval (#75) * fix: modify accel map Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * chore: apply pre-commit --------- Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> Co-authored-by: Masahiro Kubota <42679530+masahiro-kubota@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Masahiro Kubota <norikenpi@gmail.com> Co-authored-by: knorrrr <kunotomoki61@gmail.com> * chore: remove same launch * fix: removed simulation arg * chore: remove aichallenge launch * chore: split sim time arg * chore: how to use args * fix: removed simulation arg (#87) * fix: removed simulation arg * chore: split sim time arg * fix: removed simulation arg (#90) * fix: removed simulation arg * chore: split sim time arg * feat: add topic tools * Revert "chore: remove aichallenge launch" This reverts commit d0405f8. * chore: separate sim param (#94) --------- Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: knorrrr <99851410+knorrrr@users.noreply.github.com> Co-authored-by: Masahiro Kubota <42679530+masahiro-kubota@users.noreply.github.com> Co-authored-by: Masahiro Kubota <norikenpi@gmail.com> Co-authored-by: knorrrr <kunotomoki61@gmail.com>
taikitanaka3
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Sep 16, 2024
* chore: decrease pose_smoothing_step 5->1 (#59) (#60) * feat: add sensorkit swtching (#57) * feat: add sensor kit change for simulation * chore: add ignore and pre-commit fix * chore: aichallenge/workspace/.gitignore Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * fix: add simulation arg --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * chore: disable localhost only (#86) * feat: set same launch as source build (#82) * feat: add tunable param * feat: set same launch as source build * fix: modify sensor configuration (#50) Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * feat: add steer tire angle gain (#67) * feat: add steering tire angle gain Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * fix: modify steering_tire_angle_gain according to rosbag Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> --------- Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * feat: draft accel brake map (#70) * chore: remove unused param * feat:draft accel brake map * fix: modify angular velocity offset (#69) * fix: modify angular velocity offset Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * modify Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> --------- Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * feat: add raw publisher (#71) * fix: source build build fix control point size (#73) * chore: decrease min point size and acc * Update aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * Update aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * feat: add pure pursuit debug (#74) * fix: ll2 interval (#75) * fix: modify accel map Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> * chore: apply pre-commit --------- Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> Co-authored-by: Masahiro Kubota <42679530+masahiro-kubota@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Masahiro Kubota <norikenpi@gmail.com> Co-authored-by: knorrrr <kunotomoki61@gmail.com> * fix: removed simulation arg (#87) * fix: removed simulation arg * chore: split sim time arg * fix: removed simulation arg (#90) * fix: removed simulation arg * chore: split sim time arg * feat: add topic tools * chore: separate sim param (#94) * fix: fix use_sim_time default value (#92) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: add initial pose --------- Signed-off-by: Masahiro Kubota <norikenpi@gmail.com> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: knorrrr <99851410+knorrrr@users.noreply.github.com> Co-authored-by: Masahiro Kubota <42679530+masahiro-kubota@users.noreply.github.com> Co-authored-by: Masahiro Kubota <norikenpi@gmail.com> Co-authored-by: knorrrr <kunotomoki61@gmail.com>
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Since the pose estimator outputs poses at 30 Hz (supposed to be published at 10Hz), the EKF localizer couldn't keep up.
Therefore, I reduced the processing time by decreasing the smoothing steps.