feat(motion_velocity_smoother): add force acceleration function #7180
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Signed-off-by: Go Sakayori <gsakayori@gmail.com>
Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
Signed-off-by: Go Sakayori <gsakayori@gmail.com>
Signed-off-by: Go Sakayori <gsakayori@gmail.com>
Signed-off-by: Go Sakayori <gsakayori@gmail.com>
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| void MotionVelocitySmootherNode::onSlow( | ||
| const std::shared_ptr<SetBool::Request> request, std::shared_ptr<SetBool::Response> response) | ||
| { | ||
| bool success = true; |
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No need to define the variable success.
| { | ||
| bool success = true; | ||
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| std::string message = request->data ? "Slow driving" : "Default"; |
| rclcpp::Service<SetBool>::SharedPtr srv_adjust_common_param; | ||
| rclcpp::Service<SetBool>::SharedPtr srv_slow_driving; |
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Add _ at the last of the member variables' names.
| @@ -72,6 +73,13 @@ MotionVelocitySmootherNode::MotionVelocitySmootherNode(const rclcpp::NodeOptions | |||
| "~/input/operation_mode_state", 1, | |||
| [this](const OperationModeState::ConstSharedPtr msg) { operation_mode_ = *msg; }); | |||
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| srv_adjust_common_param = create_service<SetBool>( | |||
| "~/adjust_common_param", std::bind(&MotionVelocitySmootherNode::onAdjustParam, this, _1, _2)); | |||
| adjustParam = false; | |||
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Is this variable necessary?
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Thought it might not be necessary to set the force acceleration parameter every time when the request is continuously true. The same applies when false is continuous.
What do you think about it?
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@go-sakayori
I leave it to you to decide how much to address these points in this PR (at least I want to have a README though), but please keep them in mind. Autoware.ai had many interfaces with unclear and vague names, making maintenance very difficult. |
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It would be closed. Would make a PR once the functions are arranged in proper architecture. |
Description
A function to adjust the parameters for the motion velocity smoother is added. The purpose is to realize quick acceleration when needed.
As it is a basic function, std_srvs::srv::SetBool service is implemented to adjust few parameters.
Once there is a request with "true", the parameters would be updated. If the request is "false" or there is no request the default values would be used for the velocity smoothing.
Related links
autowarefoundation/autoware_launch#1010
Tests performed
TIER IV interal evaluator + Psim
Notes for reviewers
Interface changes
ROS Service Changes
/planning/scenario_planning/motion_velocity_smoother/adjust_common_paramstd_srvs::srv::SetBool/planning/scenario_planning/motion_velocity_smoother/slow_drivingstd_srvs::srv::SetBoolEffects on system behavior
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