feat: update steering input delay for JT5 (#547)

* feat: update steering input delay for JT5 * style(pre-commit): autofix --------- Co-authored-by: shiorikawata <[email protected]>
autowarefoundation · Jul 7, 2023 · 05deed1 · 05deed1
1 parent 1a3cd22
commit 05deed1
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml
@@ -45,7 +45,7 @@
 
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
-    input_delay: 0.1                 # steering input delay time for delay compensation
+    input_delay: 0.3                 # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps: 20.0         # steering angle rate limit [deg/s]
     acceleration_limit: 1.0          # acceleration limit for trajectory velocity modification [m/ss]

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -40,13 +40,13 @@
 
   <!-- dummy topic publisher (camera0 ~ camera6)-->
   <!-- temporary until AWSIM supports object recoginition camera -->
-  <arg name="camera0_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera0/camera_info sensor_msgs/msg/CameraInfo '{}'" />
-  <arg name="camera1_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera1/camera_info sensor_msgs/msg/CameraInfo '{}'" />
-  <arg name="camera2_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera2/camera_info sensor_msgs/msg/CameraInfo '{}'" />
-  <arg name="camera3_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera3/camera_info sensor_msgs/msg/CameraInfo '{}'" />
-  <arg name="camera4_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera4/camera_info sensor_msgs/msg/CameraInfo '{}'" />
-  <arg name="camera5_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera5/camera_info sensor_msgs/msg/CameraInfo '{}'" />
-  <arg name="camera6_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera6/camera_info sensor_msgs/msg/CameraInfo '{}'" />
+  <arg name="camera0_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera0/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
+  <arg name="camera1_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera1/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
+  <arg name="camera2_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera2/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
+  <arg name="camera3_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera3/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
+  <arg name="camera4_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera4/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
+  <arg name="camera5_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera5/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
+  <arg name="camera6_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera6/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
 
   <executable cmd="$(var camera0_pub)" name="camera0" shell="true"/>
   <executable cmd="$(var camera1_pub)" name="camera1" shell="true"/>