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feat: add steer tire angle gain #67

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merged 2 commits into from
Sep 5, 2024
Merged

feat: add steer tire angle gain #67

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42db637
feat: add steering tire angle gain
masahiro-kubota Sep 5, 2024
ddb77d7
fix: modify steering_tire_angle_gain according to rosbag
masahiro-kubota Sep 5, 2024
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1 change: 1 addition & 0 deletions aichallenge/workspace/src/aichallenge_launch/launch/aichallenge.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -208,6 +208,7 @@
<param name="lookahead_gain" value="0.3"/>
<param name="lookahead_min_distance" value="4.0"/>
<param name="speed_proportional_gain" value="1.0"/>
<param name="steering_tire_angle_gain" value="1.639"/>

<remap from="input/kinematics" to="/localization/kinematic_state"/>
<remap from="input/trajectory" to="/planning/scenario_planning/trajectory"/>
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1 change: 1 addition & 0 deletions ...ichallenge_submit/simple_pure_pursuit/include/simple_pure_pursuit/simple_pure_pursuit.hpp
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Expand Up @@ -46,6 +46,7 @@ class SimplePurePursuit : public rclcpp::Node {
const double speed_proportional_gain_;
const bool use_external_target_vel_;
const double external_target_vel_;
const double steering_tire_angle_gain_;


private:
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5 changes: 3 additions & 2 deletions aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp
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Expand Up @@ -22,7 +22,8 @@ SimplePurePursuit::SimplePurePursuit()
lookahead_min_distance_(declare_parameter<float>("lookahead_min_distance", 1.0)),
speed_proportional_gain_(declare_parameter<float>("speed_proportional_gain", 1.0)),
use_external_target_vel_(declare_parameter<bool>("use_external_target_vel", false)),
external_target_vel_(declare_parameter<float>("external_target_vel", 0.0))
external_target_vel_(declare_parameter<float>("external_target_vel", 0.0)),
steering_tire_angle_gain_(declare_parameter<float>("steering_tire_angle_gain", 1.0))
{
pub_cmd_ = create_publisher<AckermannControlCommand>("output/control_cmd", 1);

Expand Down Expand Up @@ -105,7 +106,7 @@ void SimplePurePursuit::onTimer()
double alpha = std::atan2(lookahead_point_y - rear_y, lookahead_point_x - rear_x) -
tf2::getYaw(odometry_->pose.pose.orientation);
cmd.lateral.steering_tire_angle =
std::atan2(2.0 * wheel_base_ * std::sin(alpha), lookahead_distance);
steering_tire_angle_gain_ * std::atan2(2.0 * wheel_base_ * std::sin(alpha), lookahead_distance);
}
pub_cmd_->publish(cmd);
}
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