feat(trajectory_follower): publsih control horzion #8977
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Overall lgtm. Please ask @takayuki5168 to check the details.
control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
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@kosuke55 And please add |
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #8977 +/- ##
==========================================
- Coverage 29.31% 29.31% -0.01%
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Files 1334 1335 +1
Lines 102800 102891 +91
Branches 39984 40031 +47
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+ Hits 30136 30161 +25
- Misses 69797 69858 +61
- Partials 2867 2872 +5
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…n#8977) * feat(trajectory_follower): publsih control horzion Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix typo Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * rename functions and minor refactor Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add option to enable horizon pub Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add tests for horizon Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * update docs Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * rename to ~/debug/control_cmd_horizon Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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…n#8977) * feat(trajectory_follower): publsih control horzion Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix typo Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * rename functions and minor refactor Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add option to enable horizon pub Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add tests for horizon Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * update docs Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * rename to ~/debug/control_cmd_horizon Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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…oundation#8977)" This reverts commit 1cb9dfa.
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Description
It was previously agreed that autoware_msgs should include control horizon. However, until now the msgs has not been used.
autowarefoundation/autoware_msgs#11
In this PR, publish control horizon topic as experimental one.
Although this is an informal interface, it is a useful topic for users who want to maximize control performance in vehicular nodes.
If the longitudinal and lateral time steps are different, calculate the greatest common divisor time step and align the sizes with zero-order hold.
If one size is 1, repeat to match the other size.
Related links
autowarefoundation/autoware_msgs#11
Parent Issue:
internal slack: https://star4.slack.com/archives/C4P0NSMB5/p1731572458828639
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.