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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ieiauto/autodrrt.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-09-19 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ros node for control_validator
Additional Links
No additional links.
Maintainers
- Kyoichi Sugahara
- Takamasa Horibe
- Makoto Kurihara
Authors
- Kyoichi Sugahara
- Takamasa Horibe
- Makoto Kurihara
Control Validator
The control_validator is a module that checks the validity of the output of the control component. The status of the validation can be viewed in the /diagnostics topic.
Supported features
The following features are supported for the validation and can have thresholds set by parameters:
- Deviation check between reference trajectory and predicted trajectory : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold.
Other features are to be implemented.
Inputs/Outputs
Inputs
The control_validator takes in the following inputs:
| Name | Type | Description |
|---|---|---|
~/input/kinematics |
nav_msgs/Odometry | ego pose and twist |
~/input/reference_trajectory |
autoware_auto_control_msgs/Trajectory | reference trajectory which is outputted from planning module to to be followed |
~/input/predicted_trajectory |
autoware_auto_control_msgs/Trajectory | predicted trajectory which is outputted from control module |
Outputs
It outputs the following:
| Name | Type | Description |
|---|---|---|
~/output/validation_status |
control_validator/ControlValidatorStatus | validator status to inform the reason why the trajectory is valid/invalid |
/diagnostics |
diagnostic_msgs/DiagnosticStatus | diagnostics to report errors |
Parameters
The following parameters can be set for the control_validator:
System parameters
| Name | Type | Description | Default value |
|---|---|---|---|
publish_diag |
bool | if true, diagnostics msg is published. | true |
diag_error_count_threshold |
int | the Diag will be set to ERROR when the number of consecutive invalid trajectory exceeds this threshold. (For example, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.) | true |
display_on_terminal |
bool | show error msg on terminal | true |
Algorithm parameters
Thresholds
The input trajectory is detected as invalid if the index exceeds the following thresholds.
| Name | Type | Description | Default value |
|---|---|---|---|
thresholds.max_distance_deviation |
double | invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m] | 1.0 |
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/control_validator.launch.xml
-
- control_validator_param_path [default: $(find-pkg-share control_validator)/config/control_validator.param.yaml]
- input_reference_trajectory [default: /planning/scenario_planning/trajectory]
- input_predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
Messages
Services
No service files found
Plugins
No plugins found.
Recent questions tagged control_validator at Robotics Stack Exchange
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