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Fix typo in control launch #91

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Mar 18, 2021
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Fix typo in control launch #91

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2cf1b00
Fix typo in control module
kmiya Mar 15, 2021
1c56b8b
change admissible_yaw_error -> admissible_yaw_error_rad
kmiya Mar 15, 2021
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6 changes: 3 additions & 3 deletions control_launch/config/mpc_follower/mpc_follower.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,8 @@
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
admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value
admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value

# -- path smoothing --
enable_path_smoothing: false # flag for path smoothing
Expand Down Expand Up @@ -42,7 +42,7 @@
# -- vehicle model --
vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
input_delay: 0.24 # steering input delay time for delay compensation
vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approzimation) [s]
vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approximation) [s]
steer_lim_deg: 40.0 # steering angle limit [deg]
steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s]
acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss]
Expand Down