Local path planner

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

Pure Pursuit For Vision

Version : 1.0.3
Date : 2020.09.10

Step

1. source ros1, workspace
2. Command 'roslaunch pure_pursuit_for_vision pure_pursuit_for_vision.launch'

Topic list
Pub

1. /move_car (Desired speed, Steer)

Sub

1. /enetsad/centerPt
2. /Joint_state

Update

1. Publish desired speed, steer information by move_car topic

pidUi - Pitch

pidUi0.1

Add files via upload

Pure Pursuit For Vision

Version : 1.0.2
Date : 2020.09.07

Step

1. source ros1, workspace
2. Command 'rosrun pure_pursuit_for_vision pure_pursuit_for_vision'

Topic list
Pub

1. /dbw_cmd/Accel (not ready)
2. /dbw_cmd/Steer

Sub

1. /enetsad/centerPt
2. /Joint_state

Update

1. 필요한 곳에 점의 개수를 늘려 Steer input의 진동 폭을 줄임.
2. Kp, Ki, Kd can be changed by launch file. (without catkin_make)

Pure Pursuit For Vision

Version : 1.0.1
Date : 2020.08.13

Step

1. source ros1, workspace
2. Command 'rosrun pure_pursuit_for_vision pure_pursuit_for_vision'

Topic list
Pub

1. /dbw_cmd/Accel (not ready)
2. /dbw_cmd/Steer

Sub

1. /enetsad/centerPt
2. /Joint_state

Pure Pursuit For Vision

Version : 1.0.0
Date : 2020.08.11

Step

1. source ros1, workspace
2. Command 'rosrun pure_pursuit_for_vision pure_pursuit_for_vision

Topic list
Pub

1. /dbw_cmd/Accel (not ready)
2. /dbw_cmd/Steer

Sub

1. /enetsad/centerPt
2. /Joint_state