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chore: sync awf-latest #288

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merged 1 commit into from
Jan 23, 2024
Merged

chore: sync awf-latest #288

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25 changes: 25 additions & 0 deletions ...ware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
/**:
ros__parameters:
convert_accel_cmd: true
convert_brake_cmd: true
convert_steer_cmd: false
use_steer_ff: true
use_steer_fb: true
is_debugging: false
max_throttle: 0.4
max_brake: 0.8
max_steer: 10.0
min_steer: -10.0
steer_pid:
kp: 150.0
ki: 15.0
kd: 0.0
max: 8.0
min: -8.0
max_p: 8.0
min_p: -8.0
max_i: 8.0
min_i: -8.0
max_d: 0.0
min_d: 0.0
invalid_integration_decay: 0.97
1 change: 1 addition & 0 deletions autoware_launch/launch/autoware.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,7 @@
<arg name="vehicle_id" value="$(var vehicle_id)"/>
<arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
<arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
<arg name="raw_vehicle_cmd_converter_param_path" value="$(find-pkg-share autoware_launch)/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml"/>
</include>
</group>

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