diff --git a/control_data_collecting_tool/README.md b/control_data_collecting_tool/README.md
index 4eaf643b..e73c684f 100644
--- a/control_data_collecting_tool/README.md
+++ b/control_data_collecting_tool/README.md
@@ -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).
-
+3. Add the DataCollectingAreaSelectionTool and DataCollectingGoalPlugin RViz plugins by clicking the "+" icon at the top of the RViz window.
4. Launch control_data_collecting_tool.
@@ -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.
@@ -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.
@@ -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 |
@@ -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 |
@@ -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 |
@@ -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 |
diff --git a/control_data_collecting_tool/config/common_param.yaml b/control_data_collecting_tool/config/common_param.yaml
index 4cb5eff2..e9221547 100644
--- a/control_data_collecting_tool/config/common_param.yaml
+++ b/control_data_collecting_tool/config/common_param.yaml
@@ -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
diff --git a/control_data_collecting_tool/config/course_param/eight_course_param.yaml b/control_data_collecting_tool/config/course_param/eight_course_param.yaml
index 48056ede..df6c9fb2 100644
--- a/control_data_collecting_tool/config/course_param/eight_course_param.yaml
+++ b/control_data_collecting_tool/config/course_param/eight_course_param.yaml
@@ -2,7 +2,6 @@
ros__parameters:
# Course Specific Parameters
velocity_on_curve: 4.5
- # Smoothing window for trajectory
smoothing_window: 400
# Data Collection Range