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feat: Changed control loop rate to 0.05 #269

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merged 1 commit into from
Jun 28, 2024
Merged

feat: Changed control loop rate to 0.05 #269

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8 changes: 4 additions & 4 deletions code/acting/launch/acting.launch
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<!---->
<launch>
<arg name="role_name" default="hero" />
<arg name="control_loop_rate" default="0.1" />
<arg name="control_loop_rate" default="0.05" />

<node pkg="acting" type="velocity_controller.py" name="velocity_controller" output="screen">
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
Expand All @@ -19,18 +19,18 @@
</node>

<node pkg="acting" type="vehicle_controller.py" name="vehicle_controller" output="screen">
<param name="control_loop_rate" value="0.1" /> <!-- leaderboard expects commands every 0.05 seconds OTHERWISE IT LAGS REALLY BADLY-->
<param name="control_loop_rate" value="$(arg control_loop_rate)" /> <!-- leaderboard expects commands every 0.05 seconds OTHERWISE IT LAGS REALLY BADLY-->
<param name="role_name" value="$(arg role_name)" />
</node>

<node pkg="acting" type="MainFramePublisher.py" name="MainFramePublisher" output="screen">
<param name="control_loop_rate" value="0.1" />
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
<param name="role_name" value="$(arg role_name)" />
</node>

<!-- UNCOMMENT THIS TO USE THE DEBUG_NODE FOR ACTING-TESTING -->
<!-- <node pkg="acting" type="Acting_Debug_Node.py" name="Acting_Debug_Node" output="screen">
<param name="control_loop_rate" value="0.05" />
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
<param name="role_name" value="$(arg role_name)" />
</node>
-->
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2 changes: 1 addition & 1 deletion code/agent/launch/agent.launch
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<launch>
<arg name="role_name" default="hero" />
<arg name="control_loop_rate" default="0.1" />
<arg name="control_loop_rate" default="0.05" />

<!-- perception -->
<include file="$(find perception)/launch/perception.launch">
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2 changes: 1 addition & 1 deletion code/mock/launch/mock.launch
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<launch>
<arg name="role_name" default="hero" />
<arg name="control_loop_rate" default="0.1" />
<arg name="control_loop_rate" default="0.05" />

<!-- <node pkg="mock" type="mock_traffic_light.py" name="mock_traffic_light" output="screen"> -->
<!-- <param name="control_loop_rate" value="$(arg control_loop_rate)" /> -->
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10 changes: 5 additions & 5 deletions code/perception/launch/perception.launch
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Original file line number Diff line number Diff line change
@@ -1,22 +1,22 @@
<launch>
<arg name="role_name" default="hero" />
<arg name="control_loop_rate" default="0.1" />
<arg name="control_loop_rate" default="0.05" />

<!-- just for Debugging/ Optimizing purposes -> Uncomment to use and see plots -->
<!-- <node pkg="perception" type="position_heading_filter_debug_node.py" name="position_heading_filter_debug_node" output="screen">
<param name="control_loop_rate" value="0.05" />
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
<param name="role_name" value="$(arg role_name)" />
</node> -->
<!--<node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot" args="/paf/hero/position_debug/data[10] /paf/hero/position_debug/data[13] /paf/hero/position_debug/data[16]"/>-->
<!--<node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot" args="/paf/hero/heading_debug/data[5] /paf/hero/heading_debug/data[6]" />-->

<node pkg="perception" type="kalman_filter.py" name="kalman_filter_node" output="screen">
<param name="control_loop_rate" value="0.05" />
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
<param name="role_name" value="$(arg role_name)" />
</node>

<node pkg="perception" type="position_heading_publisher_node.py" name="position_heading_publisher_node" output="screen">
<param name="control_loop_rate" value="0.1" />
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
<param name="role_name" value="$(arg role_name)" />
<param name="pos_filter" value="Kalman" />
<param name="heading_filter" value="Kalman" />
Expand Down Expand Up @@ -71,7 +71,7 @@
</node>

<node pkg="perception" type="global_plan_distance_publisher.py" name="GlobalPlanDistance" output="screen">
<param name="control_loop_rate" value="0.1" />
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
<param name="role_name" value="$(arg role_name)" />
</node>

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11 changes: 7 additions & 4 deletions code/planning/launch/planning.launch
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Original file line number Diff line number Diff line change
@@ -1,19 +1,22 @@
<launch>
<arg name="role_name" default="hero" />
<arg name="control_loop_rate" default="0.05" />

<node pkg="planning" type="collision_check.py" name="CollisionCheck" output="screen">
<param name="role_name" value="hero" />
<param name="control_loop_rate" value="0.05" />
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
</node>
<node pkg="planning" type="ACC.py" name="ACC" output="screen">
<param name="role_name" value="hero" />
<param name="control_loop_rate" value="0.3" />
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
</node>
<!-- <node pkg="local_planner" type="local_planner/dev_collision_publisher.py" name="DevCollisionCheck" output="screen">
<param name="role_name" value="hero" />
<param name="control_loop_rate" value="0.3" />
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
</node> -->
<node pkg="planning" type="motion_planning.py" name="MotionPlanning" output="screen">
<param name="role_name" value="hero" />
<param name="control_loop_rate" value="0.1" />
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
</node>

<!-- <node pkg="planning" type="dev_global_route.py" name="DevGlobalRoute" output="screen">
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