feat(control_debug_tools): controller-dynamics consistency checker created. #20
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…eated. Signed-off-by: Zhe Shen <[email protected]>
takayuki5168
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| find_package(builtin_interfaces REQUIRED) | ||
| find_package(rosidl_default_generators REQUIRED) | ||
| find_package(std_msgs REQUIRED) |
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| <depend>autoware_auto_planning_msgs</depend> | ||
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| <depend>tier4_autoware_utils</depend> | ||
| <depend>tier4_debug_msgs</depend> | ||
| <depend>tier4_planning_msgs</depend> |
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Signed-off-by: Zhe Shen <[email protected]>
takayuki5168
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Apr 9, 2024
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Description
A mismatch of the parameters between the controllers and the dynamics may cause failing to stabilize the ego.
Therefore, this ticket creates a controller-dynamics consistency checker.
It checks the following parameters:
MPC-related parameters
input_delay
vehicle_model_steer_tau
acceleration_limit
steer_rate_lim_dps_list_by_curvature
steer_rate_lim_dps_list_by_velocity
PID related parameters:
max_acc
min_acc
accelerate_delay
Related links
https://tier4.atlassian.net/jira/software/c/projects/RT1/boards/438?selectedIssue=RT1-5682
Tests performed
Notes for reviewers
Interface changes
Effects on system behavior
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