From 9d11c5fcd7c396380611e719e9b5b9e97523522a Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Sat, 12 Sep 2020 14:28:33 +0900 Subject: [PATCH] Add parameter for using steer prediction (#88) --- control_launch/config/mpc_follower/mpc_follower_param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/control_launch/config/mpc_follower/mpc_follower_param.yaml b/control_launch/config/mpc_follower/mpc_follower_param.yaml index 1dbd74f8c..ef0bf86c7 100644 --- a/control_launch/config/mpc_follower/mpc_follower_param.yaml +++ b/control_launch/config/mpc_follower/mpc_follower_param.yaml @@ -4,6 +4,7 @@ ctrl_period: 0.03 # control period [s] traj_resample_dist: 0.1 # path resampling interval [m] enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling +use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) admisible_position_error: 5.0 # stop mpc calculation when error is larger than the following value admisible_yaw_error_: 1.57 # stop mpc calculation when error is larger than the following value