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fix(simple_planning_simulator): fix param file levels #1612

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Sep 9, 2022
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fix(simple_planning_simulator): fix param file levels #1612

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666f88c
fix(simple_planning_simulator): fix param file levels
HaoruXue Aug 17, 2022
41b05a0
Merge branch 'autowarefoundation:main' into fix-simple-sim-param
HaoruXue Aug 20, 2022
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34 changes: 16 additions & 18 deletions simulator/simple_planning_simulator/param/simple_planning_simulator_default.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,22 +1,20 @@
/**:
ros__parameters:
simulation:
simple_planning_simulator:
simulated_frame_id: "base_link"
origin_frame_id: "map"
vehicle_model_type: "DELAY_STEER_ACC_GEARED"
initialize_source: "INITIAL_POSE_TOPIC"
timer_sampling_time_ms: 25
add_measurement_noise: False
vel_lim: 30.0
vel_rate_lim: 30.0
steer_lim: 0.6
steer_rate_lim: 6.28
acc_time_delay: 0.1
acc_time_constant: 0.1
steer_time_delay: 0.1
steer_time_constant: 0.1
x_stddev: 0.0001 # x standard deviation for dummy covariance in map coordinate
y_stddev: 0.0001 # y standard deviation for dummy covariance in map coordinate
simulated_frame_id: "base_link"
origin_frame_id: "map"
vehicle_model_type: "DELAY_STEER_ACC_GEARED"
initialize_source: "INITIAL_POSE_TOPIC"
timer_sampling_time_ms: 25
add_measurement_noise: False
vel_lim: 30.0
vel_rate_lim: 30.0
steer_lim: 0.6
steer_rate_lim: 6.28
acc_time_delay: 0.1
acc_time_constant: 0.1
steer_time_delay: 0.1
steer_time_constant: 0.1
x_stddev: 0.0001 # x standard deviation for dummy covariance in map coordinate
y_stddev: 0.0001 # y standard deviation for dummy covariance in map coordinate

# Note: vehicle characteristics parameters (e.g. wheelbase) are defined in a separate file.
21 changes: 10 additions & 11 deletions simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,13 +1,12 @@
/**:
ros__parameters:
vehicle:
cg_to_front_m: 1.228
cg_to_rear_m: 1.5618
front_corner_stiffness: 17000.0
rear_corner_stiffness: 20000.0
mass_kg: 1460.0
yaw_inertia_kgm2: 2170.0
width_m: 2.0
front_overhang_m: 0.5
rear_overhang_m: 0.5
max_steer_angle: 0.70 # [rad]
cg_to_front_m: 1.228
cg_to_rear_m: 1.5618
front_corner_stiffness: 17000.0
rear_corner_stiffness: 20000.0
mass_kg: 1460.0
yaw_inertia_kgm2: 2170.0
width_m: 2.0
front_overhang_m: 0.5
rear_overhang_m: 0.5
max_steer_angle: 0.70 # [rad]