feat(autoware_mpc_lateral_controller): add resampled reference trajectory for debug purpose #1114
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| @@ -75,4 +75,5 @@ | |||
| average_num: 1000 | |||
| steering_offset_limit: 0.02 | |||
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| debug_publish_predicted_trajectory: true # publish debug predicted trajectory in Frenet coordinate | |||
| debug_publish_predicted_trajectory: true # publish predicted trajectory for debugging, considering Frenet coordinate system and delayed vehicle state | |||
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We do not expect that the predicted trajectory in the world coordinate will be published with this comment.
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Signed-off-by: kyoichi-sugahara <[email protected]>
…sampled_reference_trajectory parameters Signed-off-by: kyoichi-sugahara <[email protected]>
…tion#1112)" This reverts commit 834c03f.
Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
…ram.yaml Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]> Signed-off-by: Kyoichi Sugahara <[email protected]>
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Signed-off-by: Kyoichi Sugahara <[email protected]>
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Description
Necessary chenge for the PR.
Tests performed
run psim and confimed visualization with rviz
/control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory/control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_with_delayEffects on system behavior
Not applicable.
Interface changes
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