feat(vehicle_cmd_gate): enable filter with actual steer in manual mode #2717
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…mode Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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Codecov ReportBase: 11.57% // Head: 12.38% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2717 +/- ##
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+ Coverage 11.57% 12.38% +0.80%
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Files 1303 1203 -100
Lines 90775 85242 -5533
Branches 23978 24121 +143
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+ Hits 10511 10558 +47
+ Misses 69270 63671 -5599
- Partials 10994 11013 +19
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Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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autowarefoundation#2717) * feature(vehicle_cmd_gate): enable filter with actual steer in manual mode Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update parameters based on experiment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update launch Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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autowarefoundation#2717) * feature(vehicle_cmd_gate): enable filter with actual steer in manual mode Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update parameters based on experiment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update launch Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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autowarefoundation#2717) * feature(vehicle_cmd_gate): enable filter with actual steer in manual mode Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update parameters based on experiment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update launch Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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Description
In manual mode, the filter must consider the current status (e.g. current steering angle) to prevent sudden movement when switching from manual to autonomous.
The current implementation only checks for the previous commands, which makes a large difference between the actual status and command, then results in the sudden movement of the steering and acceleration.
This PR only focuses on the steering behavior because longitudinal information can not be changed easily for other modules.
Related links
https://github.com/tier4/autoware_launch/pull/733
autowarefoundation/autoware_launch#189
Tests performed
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