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feat(map_based_prediction): add prediction parameter #545

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Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
/**:
ros__parameters:
enable_delay_compensation: true
prediction_time_horizon: 10.0 #[s]
prediction_sampling_delta_time: 0.5 #[s]
min_velocity_for_map_based_prediction: 1.0 #[m/s]
dist_threshold_for_searching_lanelet: 3.0 #[m]
delta_yaw_threshold_for_searching_lanelet: 0.785 #[rad]
sigma_lateral_offset: 0.5 #[m]
sigma_yaw_angle_deg: 5.0 #[angle degree]
object_buffer_time_length: 2.0 #[s]
history_time_length: 1.0 #[s]
dist_ratio_threshold_to_left_bound: -0.5 #[ratio]
dist_ratio_threshold_to_right_bound: 0.5 #[ratio
diff_dist_threshold_to_left_bound: 0.29 #[m]
diff_dist_threshold_to_right_bound: -0.29 #[m]
reference_path_resolution: 0.5 #[m]
Original file line number Diff line number Diff line change
@@ -1,39 +1,13 @@
<?xml version="1.0" ?>

<launch>
<arg name="enable_delay_compensation" default="true" />
<arg name="prediction_time_horizon" default="10.0" />
<arg name="prediction_sampling_delta_time" default="0.5" />
<arg name="min_velocity_for_map_based_prediction" default="1.0" />
<arg name="dist_threshold_for_searching_lanelet" default="3.0" />
<arg name="delta_yaw_threshold_for_searching_lanelet" default="0.785" />
<arg name="sigma_lateral_offset" default="0.5" /> <!-- [m]-->
<arg name="sigma_yaw_angle_deg" default="5.0" /> <!-- [angle degree] -->
<arg name="object_buffer_time_length" default="2.0" /> <!-- [s] -->
<arg name="history_time_length" default="1.0" /> <!-- [s] -->
<arg name="dist_ratio_threshold_to_left_bound" default="-0.5" /> <!-- [ratio] -->
<arg name="dist_ratio_threshold_to_right_bound" default="0.5" /> <!-- [ratio] -->
<arg name="diff_dist_threshold_to_left_bound" default="0.29" /> <!-- [m] -->
<arg name="diff_dist_threshold_to_right_bound" default="-0.29" /> <!-- [m] -->
<arg name="reference_path_resolution" default="0.5" /> <!-- [m] -->
<arg name="param_path" default="$(find-pkg-share map_based_prediction)/config/map_based_prediction.param.yaml" />

<arg name="vector_map_topic" default="/map/vector_map" />
<arg name="output_topic" default="objects"/>

<node pkg="map_based_prediction" exec="map_based_prediction" name="map_based_prediction" output="screen">
<param name="enable_delay_compensation" value="$(var enable_delay_compensation)" />
<param name="perception_time_horizon" value="$(var prediction_time_horizon)" />
<param name="prediction_sampling_delta_time" value="$(var prediction_sampling_delta_time)" />
<param name="min_velocity_for_map_based_prediction" value="$(var min_velocity_for_map_based_prediction)" />
<param name="dist_threshold_for_searching_lanelet" value="$(var dist_threshold_for_searching_lanelet)" />
<param name="delta_yaw_threshold_for_searching_lanelet" value="$(var delta_yaw_threshold_for_searching_lanelet)" />
<param name="sigma_lateral_offset" value="$(var sigma_lateral_offset)" />
<param name="sigma_yaw_angle_deg" value="$(var sigma_yaw_angle_deg)" />
<param name="object_buffer_time_length" value="$(var object_buffer_time_length)" />
<param name="history_time_length" value="$(var history_time_length)" />
<param name="dist_ratio_threshold_to_left_bound" value="$(var dist_ratio_threshold_to_left_bound)" />
<param name="dist_ratio_threshold_to_right_bound" value="$(var dist_ratio_threshold_to_right_bound)" />
<param name="diff_dist_threshold_to_left_bound" value="$(var diff_dist_threshold_to_left_bound)" />
<param name="diff_dist_threshold_to_right_bound" value="$(var diff_dist_threshold_to_right_bound)" />
<param name="reference_path_resolution" value="$(var reference_path_resolution)" />
<param from="$(var param_path)" />
<remap from="/vector_map" to="$(var vector_map_topic)"/>
<remap from="objects" to="$(var output_topic)"/>
</node>
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