• launch/mpc_follower.launch
  • • ns [default: /]
    • show_debug_info [default: false] — flag to display debug info
    • ctrl_period [default: 0.03] — control period [s]
    • traj_resample_dist [default: 0.1] — ath resampling interval [m]
    • enable_yaw_recalculation [default: true] — flag for recalculation of yaw angle after resampling
    • admisible_position_error [default: 5.0] — stop mpc calculation when error is larger than the following value
    • admisible_yaw_error_deg [default: 90.0] — stop mpc calculation when error is larger than the following value
    • enable_path_smoothing [default: true] — flag for path smoothing
    • path_smoothing_times [default: 1] — number of times of applying path smoothing filter
    • path_filter_moving_ave_num [default: 35] — param of moving average filter for path smoothing
    • curvature_smoothing_num [default: 35] — point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num)
    • steering_lpf_cutoff_hz [default: 3.0] — cutoff frequency of lowpass filter for steering command [Hz]
    • qp_solver_type [default: unconstraint_fast] — optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart
    • qpoases_max_iter [default: 500] — max iteration number for quadratic programming
    • vehicle_model_type [default: kinematics] — vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
    • mpc_prediction_horizon [default: 70] — prediction horizon step
    • mpc_prediction_sampling_time [default: 0.1] — prediction horizon period [s]
    • mpc_weight_lat_error [default: 0.1] — lateral error weight in matrix Q
    • mpc_weight_heading_error [default: 0.0] — heading error weight in matrix Q
    • mpc_weight_heading_error_squared_vel_coeff [default: 0.3] — heading error * velocity weight in matrix Q
    • mpc_weight_steering_input [default: 1.0] — steering error weight in matrix R
    • mpc_weight_steering_input_squared_vel_coeff [default: 0.25] — steering error * velocity weight in matrix R
    • mpc_weight_lat_jerk [default: 0.0] — lateral jerk weight in matrix R
    • mpc_weight_terminal_lat_error [default: 1.0] — terminal lateral error weight in matrix Q to improve mpc stability
    • mpc_weight_terminal_heading_error [default: 0.1] — terminal heading error weight in matrix Q to improve mpc stability
    • mpc_zero_ff_steer_deg [default: 2.0] — threshold that feed-forward angle becomes zero
    • delay_compensation_time [default: 0.0] — steering input delay time for delay compensation
    • vehicle_model_steer_tau [default: 0.3] — steering dynamics time constant (1d approzimation) [s]
    • vehicle_model_wheelbase [default: 2.9] — wheel base length [m]
    • steer_lim_deg [default: 40.0] — steering angle limit [deg]
    • steering_gear_ratio [default: 20.0] — steering gear ratio

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