From ff18500f1d1d76c0f7ef303c69628d69b8b0d4cc Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 9 Aug 2024 01:06:11 +0900 Subject: [PATCH] fix(mpc_lateral_controller): publish predicted trajectory in Frenet coordinate and visualize it on Rviz Signed-off-by: Takayuki Murooka --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 +- autoware_launch/rviz/autoware.rviz | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 37772ac574..135aecc56b 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -75,4 +75,4 @@ average_num: 1000 steering_offset_limit: 0.02 - debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate + debug_publish_predicted_trajectory: true # publish debug predicted trajectory in Frenet coordinate diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 61e8cf522c..ae20a8f22d 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2396,7 +2396,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /control/trajectory_follower/lateral/predicted_trajectory + Value: /control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate Value: true View Path: Alpha: 1