Skip to content

Commit

Permalink
Changes to the README and parameter values
Browse files Browse the repository at this point in the history 
Signed-off-by: Yoshihiro Kogure <[email protected]>
  • Loading branch information
@YoshihiroKogure
YoshihiroKogure committed Nov 27, 2024
1 parent 3537a91 commit 42e524e
Show file tree
Hide file tree
Showing 3 changed files with 20 additions and 23 deletions.
38 changes: 18 additions & 20 deletions control_data_collecting_tool/README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -46,17 +46,15 @@ This package provides tools for automatically collecting data using pure pursuit

## How to Use

1. Launch Autoware.
1. Launch Autoware.

```bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
```

2. Set an initial pose, see [here](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/#2-set-an-initial-pose-for-the-ego-vehicle).
```bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
```

3. Add the DataCollectingAreaSelectionTool and DataCollectingGoalPlugin RViz plugins by clicking the "+" icon at the top of the RViz window.
2. Set an initial pose, see [here](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/#2-set-an-initial-pose-for-the-ego-vehicle).

<img src="resource/add_rviz_plugin.png" width="480">
3. Add the DataCollectingAreaSelectionTool and DataCollectingGoalPlugin RViz plugins by clicking the "+" icon at the top of the RViz window. <br> <img src="resource/add_rviz_plugin.png" width="480">

4. Launch control_data_collecting_tool.

Expand All @@ -81,9 +79,9 @@ This package provides tools for automatically collecting data using pure pursuit
- `/data_collecting_lookahead_marker_array`
- Type: MarkerArray

6. The following actions differ depending on the selected course. If you select the trajectory from [`eight_course`, `u_shaped_return`, `straight_line_positive`, `straight_line_negative`, `reversal_loop_circle`], proceed to i. If you select the trajectory from [`along_road`], please proceed to ii.
6. The following actions differ depending on the selected course. If you select the trajectory from [`eight_course`, `u_shaped_return`, `straight_line_positive`, `straight_line_negative`, `reversal_loop_circle`], proceed to 6.1. If you select the trajectory from [`along_road`], please proceed to 6.2.

- 6-1 If you choose the trajectory from [`eight_course`, `u_shaped_return`, `straight_line_positive`, `straight_line_negative`, `reversal_loop_circle`], select `DataCollectingAreaSelectionTool` plugin.
- 6.1 If you choose the trajectory from [`eight_course`, `u_shaped_return`, `straight_line_positive`, `straight_line_negative`, `reversal_loop_circle`], select `DataCollectingAreaSelectionTool` plugin.

<img src="resource/DataCollectingAreaSelection.png" width="480">

Expand All @@ -94,7 +92,7 @@ This package provides tools for automatically collecting data using pure pursuit
> [!NOTE]
> You cannot change the data collecting area while driving.

- 6-2. If you choose the trajectory from [`along_road`], select `DataCollectingGoalPose` plugin.
- 6.2 If you choose the trajectory from [`along_road`], select `DataCollectingGoalPose` plugin.

<img src="resource/DataCollectingGoalPose.png" width="480">

Expand Down Expand Up @@ -140,11 +138,11 @@ There are parameters that are common to all trajectories and parameters that are

### Common Parameters

ROS 2 params which are common in all trajectories (`/config/common_param.yaml`):
ROS 2 parameters which are common in all trajectories (`/config/common_param.yaml`):

| Name | Type | Description | Default value |
| :--------------------------------------- | :------- | :---------------------------------------------------------------------------------------------------------------------------------------- | :--------------------- |
| `LOAD_ROSBAG2_FILES` | `bool` | Flag that determines whether to load rosbag2 data or not | True |
| `LOAD_ROSBAG2_FILES` | `bool` | Flag that determines whether to load rosbag2 data or not | true |
| `COURSE_NAME` | `string` | Course name [`eight_course`, `u_shaped_return`, `straight_line_positive`, `straight_line_negative`, `reversal_loop_circle`, `along_road`] | `reversal_loop_circle` |
| `NUM_BINS_V` | `int` | Number of bins of velocity in heatmap | 10 |
| `NUM_BINS_STEER` | `int` | Number of bins of steer in heatmap | 20 |
Expand All @@ -154,10 +152,10 @@ ROS 2 params which are common in all trajectories (`/config/common_param.yaml`):
| `STEER_MIN` | `double` | Minimum steer in heatmap [rad] | -0.6 |
| `STEER_MAX` | `double` | Maximum steer in heatmap [rad] | 0.6 |
| `A_MIN` | `double` | Minimum acceleration in heatmap [m/ss] | -1.0 |
| `A_MAX` | `double` | Maximum acceleration in heatmap [m/ss] | 2.0 |
| `max_lateral_accel` | `double` | Max lateral acceleration limit [m/ss] | 2.79 |
| `lateral_error_threshold` | `double` | Lateral error threshold where applying velocity limit [m/s] | 0.75 |
| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 1.0 |
| `A_MAX` | `double` | Maximum acceleration in heatmap [m/ss] | 1.0 |
| `max_lateral_accel` | `double` | Max lateral acceleration limit [m/ss] | 2.00 |
| `lateral_error_threshold` | `double` | Lateral error threshold where applying velocity limit [m/s] | 1.50 |
| `yaw_error_threshold` | `double` | Yaw error threshold where applying velocity limit [rad] | 0.75 |
| `velocity_limit_by_tracking_error` | `double` | Velocity limit applied when tracking error exceeds threshold [m/s] | 1.0 |
| `mov_ave_window` | `int` | Moving average smoothing window size | 50 |
| `target_longitudinal_velocity` | `double` | Target longitudinal velocity [m/s] | 6.0 |
Expand All @@ -178,7 +176,7 @@ ROS 2 params which are common in all trajectories (`/config/common_param.yaml`):
The following parameters are common to all trajectories but can be defined individually for each trajectory. (`/config/course_param/COURSE_NAME_param.yaml`):
| Name | Type | Description | Default value |
| :--------------------------------------- | :------- | :-------------------------------------------------------------------------------------------------- | :------------- |
| `COLLECTING_DATA_V_MIN` | `double` | Minimum velocity for data collection [m/s] | 0.0 |
| `COLLECTING_DATA_V_MIN` | `double` | Minimum velocity for data collection [m/s] | 0.5 |
| `COLLECTING_DATA_V_MAX` | `double` | Maximum velocity for data collection [m/s] | 8.0 |
| `COLLECTING_DATA_A_MIN` | `double` | Minimum velocity for data collection [m/ss] | 1.0 |
| `COLLECTING_DATA_A_MAX` | `double` | Maximum velocity for data collection [m/ss] | -1.0 |
Expand Down Expand Up @@ -227,10 +225,10 @@ Each trajectory has specific ROS 2 parameters.

| Name | Type | Description | Default value |
| :-------------------------------- | :------- | :------------------------------------------------------------------ | :------------ |
| `smoothing_window` | `double` | Width of the window for trajectory smoothing | 100 |
| `velocity_on_curve` | `double` | Constant velocity on curve [m/s] | 3.5 |
| `stopping_buffer_distance` | `double` | The safety distance from end of the straight line [m] | 15.0 |
| `course_width` | `double` | The width of the trajectory [m] | 1.5 |
| `minimum_length_of_straight_line` | `double` | TThe minimum length of straight line for data collection [m] | 50.0 |
| `smoothing_window` | `double` | Width of the window for trajectory smoothing | 100 |
| `minimum_length_of_straight_line` | `double` | The minimum length of straight line for data collection [m] | 50.0 |
| `longitude` | `double` | The longitude of the origin specified when loading the map [degree] | 139.6503 |
| `latitude` | `double` | The latitude of the origin specified when loading the map [degree] | 35.6762 |
4 changes: 2 additions & 2 deletions control_data_collecting_tool/config/common_param.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,8 @@
A_MIN: -1.0
A_MAX: 1.0

max_lateral_accel: 2.0
lateral_error_threshold: 2.79
max_lateral_accel: 2.00
lateral_error_threshold: 1.50
yaw_error_threshold: 0.75
velocity_limit_by_tracking_error: 1.0
mov_ave_window: 50
Expand Down
1 change: 0 additions & 1 deletion control_data_collecting_tool/config/course_param/eight_course_param.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@
ros__parameters:
# Course Specific Parameters
velocity_on_curve: 4.5
# Smoothing window for trajectory
smoothing_window: 400

# Data Collection Range
Expand Down

0 comments on commit 42e524e

Please sign in to comment.