Speed based adaptive lookahead calc added

szepilot · Apr 18, 2023 · 36b0829 · 36b0829
1 parent bdc8cb3
commit 36b0829
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Showing 4 changed files with 76 additions and 12 deletions.
diff --git a/README.md b/README.md
@@ -50,6 +50,9 @@ It also provides a `/metrics_wayp` array topic with the following  elements:
 |`[2]` | current waypoint ID
 |`[3]` | target waypoint ID
 |`[4]` | target waypoint longitudinal distance 
+
+<img src="csv/lookahead01.svg" width=60% />
+
 # `waypoint_saver` node 
 Saves the waypoints to a csv.
 # `waypoint_loader` node

diff --git a/csv/lookahead01.svg b/csv/lookahead01.svg
diff --git a/launch/waypoint_to_target.launch.py b/launch/waypoint_to_target.launch.py
@@ -15,7 +15,10 @@ def generate_launch_description():
             name='wayp_to_target',
             output='screen',
             parameters=[
-                {"lookahead_distance": 8.6},
+                {"lookahead_min": 8.5},
+                {"lookahead_max": 16.0},
+                {"mps_alpha": 3.5},
+                {"mps_beta": 5.5}, 
                 {"waypoint_topic": "lexus3/waypointarray"}
                 ],
         ),