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|`first_brake_params.control_cmd_buffer_time_interval`| double |[s] Time interval for buffering control commands. |
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|`first_brake_params.min_number_descending_order_control_cmd`| int | Minimum number of control commands in descending order for triggering brake. |
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|`first_brake_params.min_jerk_for_brake_cmd`| double |[m/s³] Minimum jerk value for issuing a brake command. |
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|`initialization_pose`| struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. |
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|`entity_params`| struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. |
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|`goal_pose`| struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. |
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|`topic_publisher.path_bag_without_object`| string | Path to the ROS bag file without objects. Only valid `perception_planning` mode. |
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|`topic_publisher.path_bag_with_object`| string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. |
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|`topic_publisher.pointcloud_publisher.pointcloud_publisher_type`| string | Defines how the PointCloud2 messages are going to be published. Modes explained above. |
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|`topic_publisher.pointcloud_publisher.pointcloud_publisher_period`| double |[s] Publishing period of the PointCloud2 messages. |
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|`reaction_chain`| struct | List of the nodes with their topics and topic's message types. |
|`timer_period`| double |[s] Period for the main processing timer. |
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|`test_iteration`| int | Number of iterations for the test. |
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|`output_file_path`| string | Directory path where test results and statictics will be stored. |
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|`object_search_radius_offset`| double |[m] Additional radius added to the search area when looking for objects. |
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|`spawn_time_after_init`| double |[s] Time delay after initialization before spawning objects. Only valid `perception_planning` mode. |
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|`spawn_distance_threshold`| double |[m] Distance threshold for spawning objects. Only valid `planning_control` mode. |
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|`spawned_pointcloud_sampling_distance`| double |[m] Sampling distance for point clouds of spawned objects. Only valid `planning_control` mode. |
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|`dummy_perception_publisher_period`| double |[s] Publishing period for the dummy perception data. Only valid `planning_control` mode. |
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|`initialization_pose`| struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. |
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|`entity_params`| struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. |
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|`goal_pose`| struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. |
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|`topic_publisher.path_bag_without_object`| string | Path to the ROS bag file without objects. Only valid `perception_planning` mode. |
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|`topic_publisher.path_bag_with_object`| string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. |
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|`topic_publisher.pointcloud_publisher.pointcloud_publisher_type`| string | Defines how the PointCloud2 messages are going to be published. Modes explained above. |
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|`topic_publisher.pointcloud_publisher.pointcloud_publisher_period`| double |[s] Publishing period of the PointCloud2 messages. |
|`reaction_params.first_brake_params.control_cmd_buffer_time_interval`| double |[s] Time interval for buffering control commands. |
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|`reaction_params.first_brake_params.min_number_descending_order_control_cmd`| int | Minimum number of control commands in descending order for triggering brake. |
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|`reaction_params.first_brake_params.min_jerk_for_brake_cmd`| double |[m/s³] Minimum jerk value for issuing a brake command. |
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|`reaction_params.search_zero_vel_params.max_looking_distance`| double |[m] Maximum looking distance for zero velocity on trajectory |
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|`reaction_params.search_entity_params.search_radius`| double |[m] Searching radius for spawned entity. Distance between ego pose and entity pose. |
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|`reaction_chain`| struct | List of the nodes with their topics and topic's message types. |
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