feat(motion_velocity_smoother): change osqp parameter #2157
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Signed-off-by: yutaka <purewater0901@gmail.com>
purewater0901
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rej55,
kosuke55,
kyoichi-sugahara,
mkuri,
soblin,
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taikitanaka3,
TakaHoribe,
takayuki5168,
TomohitoAndo,
tkimura4 and
zulfaqar-azmi-t4
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|
Launch: tier4/autoware_launch#530 |
Codecov ReportBase: 10.78% // Head: 10.78% // No change to project coverage 👍
Additional details and impacted files@@ Coverage Diff @@
## main #2157 +/- ##
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Coverage 10.78% 10.78%
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Files 1186 1186
Lines 84842 84842
Branches 19899 19899
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Hits 9149 9149
Misses 66002 66002
Partials 9691 9691
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TakaHoribe
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…tion#2157) Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
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…tion#2157) Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
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…tion#2157) Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com>
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…tion#2157) Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> chore: remove motion_common dependency (autowarefoundation#2231) * remove motion_common from smoother Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove motion_common from control_performance_analysis and simple_planning_simualtor Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix include Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add include Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> refactor(motion_velocity_smoother): remove unused optional (autowarefoundation#1906) * remove unused optional Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * pre-commit Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> add tunable deccel limit before curve fix(motion_velocity_smoother): mismatch of v0/a0 between optimization and external velocity limit (autowarefoundation#2283) * fix(motion_velocity_smoother): inconsistent v0/a0 between optimization and external velocity limit Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove debug print Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> fix(motion_velocity_smoother): fix taking long time to start in "l2_smoother" (autowarefoundation#2289) fix-l2-smoother Signed-off-by: jack.song <jack.song@autocore.ai> Signed-off-by: jack.song <jack.song@autocore.ai> chore(motion_velocity_smoother): add debug print for non-supported function (autowarefoundation#2298) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> fix(motion_velocity_smoother): add current_closest_point_from_prev_output (autowarefoundation#2399) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> increase distance before curve update delay compansation
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Signed-off-by: yutaka purewater0901@gmail.com
Description
Motion velocity smoother does output some weird results when the ego vehicle travels at a high speed. In this PR, I changed the OSQP
EpsRelto a smaller value to make it possible to get smooth velocity profiles. Moreover, in order to reduce the computation time, I changed the resampling parameters. Current computation time is around 20~45[msec].Pre-review checklist for the PR author
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