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Local path planner

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@tlemsl tlemsl released this 12 Sep 16:14
· 19 commits to master since this release
0.0.0
86b62ca
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Learn about vigilant mode.

Dependence

  • HDmap global path
  • LIdar tracking object(essential tracking_msg)

Command

  • roslaunch local_path_planner planner_movecar.launch

Please check launch file argument and set configuration
Ioniq
steel find argument

Carla
20m version
Kp_alpha = 8.5
Kp_beta = -3.5
dt = 0.01
car_type = 0 //Ioniq
cmd_type = 1 //movecar
distance = 20
line_length = 10

5m version
Kp_alpha = 7.0
Kp_beta = -3.0
dt = 0.027
car_type = 0 //Ioniq
cmd_type = 1 //movecar
distance = 5
line_length = 5

ERP42
Kp_alpha = 15.0
Kp_beta = -3.0
dt = 0.15
car_type = 1 //ERP42
cmd_type = 0 //dbw_cmd
distance = 7
line_length = 10

Assets 4
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