feat(motion_velocity_smoother): change osqp parameter (autowarefounda…

…tion#2157) Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com>
vautonomous · Jan 28, 2023 · a6c8e62 · a6c8e62
1 parent 954fe54
commit a6c8e62
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/planning/motion_velocity_smoother/config/default_motion_velocity_smoother.param.yaml b/planning/motion_velocity_smoother/config/default_motion_velocity_smoother.param.yaml
@@ -32,8 +32,8 @@
     # resampling parameters for optimization
     max_trajectory_length: 200.0        # max trajectory length for resampling [m]
     min_trajectory_length: 150.0        # min trajectory length for resampling [m]
-    resample_time: 5.0                  # resample total time for dense sampling [s]
-    dense_resample_dt: 0.1              # resample time interval for dense sampling [s]
+    resample_time: 2.0                  # resample total time for dense sampling [s]
+    dense_resample_dt: 0.2              # resample time interval for dense sampling [s]
     dense_min_interval_distance: 0.1    # minimum points-interval length for dense sampling [m]
     sparse_resample_dt: 0.5             # resample time interval for sparse sampling [s]
     sparse_min_interval_distance: 4.0   # minimum points-interval length for sparse sampling [m]

diff --git a/planning/motion_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp b/planning/motion_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp
@@ -37,7 +37,7 @@ JerkFilteredSmoother::JerkFilteredSmoother(rclcpp::Node & node) : SmootherBase(n
 
   qp_solver_.updateMaxIter(20000);
   qp_solver_.updateRhoInterval(0);  // 0 means automatic
-  qp_solver_.updateEpsRel(1.0e-4);  // def: 1.0e-4
+  qp_solver_.updateEpsRel(1.0e-6);  // def: 1.0e-4
   qp_solver_.updateEpsAbs(1.0e-8);  // def: 1.0e-4
   qp_solver_.updateVerbose(false);
 }