fix(trajectory_follower): change default param for curvature smoothing

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
autowarefoundation · Mar 8, 2022 · ea7822b · ea7822b
1 parent 9114b66
commit ea7822b
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Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml b/control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml
@@ -11,7 +11,7 @@
     # -- path smoothing --
     enable_path_smoothing: false   # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
-    curvature_smoothing_num_traj: 1         # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
+    curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
 
     # -- mpc optimization --
@@ -66,4 +66,3 @@
     mass_rr: 600.0
     cf: 155494.663
     cr: 155494.663
-
diff --git a/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml b/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml
@@ -11,7 +11,7 @@
     # -- path smoothing --
     enable_path_smoothing: false   # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
-    curvature_smoothing_num_traj: 1         # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
+    curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
 
     # -- mpc optimization --