feat(pid_longitudinal_controller): add new slope compensation mode trajectory_goal_adaptive #9705
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Signed-off-by: yuki-takagi-66 <[email protected]>
Signed-off-by: yuki-takagi-66 <[email protected]>
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Signed-off-by: yuki-takagi-66 <[email protected]>
Signed-off-by: yuki-takagi-66 <[email protected]>
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…ajectory_goal_adaptive (autowarefoundation#9705) Signed-off-by: yuki-takagi-66 <[email protected]>
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Description
This PR provides a new compensation mode trajectory_goal_adaptive.
Road slope estimation from trajectory is works well only if the rest trajectory length is longer than wheel base length.
Only this situation, the new mode use pose estimation ptich.
Related links
autowarefoundation/autoware_launch#1288
How was this PR tested?
psim and tier4 scenario tests
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.