refactor(autoware_velocity_smoother): rework parameters #8298
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Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-8298/ |
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planning/autoware_velocity_smoother/schema/default_comman.schema.json
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Hi @TakaHoribe, @go-sakayori, @mkuri, @rej55, @satoshi-ota, |
| ego_nearest_dist_threshold: 0.3 # threshold to find the nearest point on the trajectory [m] | ||
| ego_nearest_yaw_threshold: 1.046 # threshold to find the nearest point on the trajectory [rad] |
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Is it possible to split these two parameters as default_nearest_search.param.yaml under config folder?
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These parameters are meant to be managed as common parameter among different nodes and is better to be managed as a separate file.
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Is it possible to split these two parameters as
default_nearest_search.param.yamlunder config folder?
I will make the necessary updates as you said. Thanks for your feedback.
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| curvature_calculation_distance: 5.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] | ||
| ego_nearest_dist_threshold: 0.3 # threshold to find the nearest point on the trajectory [m] | ||
| ego_nearest_yaw_threshold: 1.046 # threshold to find the nearest point on the trajectory [rad] | ||
| algorithm_type: "JerkFiltered" # algorithm type for velocity smoother. "JerkFiltered" or "L2" or "Linf" or "Analytical" |
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Could you change this to the following code so that the argument passed to the launch file is used instead?
| algorithm_type: "JerkFiltered" # algorithm type for velocity smoother. "JerkFiltered" or "L2" or "Linf" or "Analytical" | |
| algorithm_type: $(var velocity_smoother_type) # algorithm type for velocity smoother. "JerkFiltered" or "L2" or "Linf" or "Analytical" |
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Signed-off-by: batuhanbeytekin <[email protected]>
Signed-off-by: batuhanbeytekin <[email protected]>
Signed-off-by: batuhanbeytekin <[email protected]>
Signed-off-by: batuhanbeytekin <[email protected]>
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Description
Implement the ROS Node configuration layout described in https://github.com/orgs/autowarefoundation/discussions/3371
Tests performed
Package built and launch locally.
Effects on system behavior
More reliable and faster parameter configuration file creation.
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