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with '#' will be ignored, and an empty message aborts the commit. On branch master Your branch is ahead of 'origin/master' by 2 commits. (use "git push" to publish your local commits) Changes to be committed: modified: .gitignore modified: README.md new file: bashes/auto-wifi-connect.service new file: bashes/auto-wifi-connect.sh deleted: keyboard_control.py new file: my_model/image.png new file: path_follower_demo.py new file: scripts/PIDtracking.py new file: scripts/__pycache__/publish_sine_path.cpython-310.pyc new file: scripts/publish_sine_path.py modified: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml modified: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak new file: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak2 modified: src/origincar_base/config/ekf.yaml new file: src/origincar_base/config/ekf.yaml.bak modified: src/origincar_base/launch/base_serial.launch.py new file: src/origincar_base/launch/base_serial.launch.py.bak modified: src/origincar_base/launch/origincar_bringup.launch.py new file: src/past_control/CMakeLists.txt new file: src/past_control/config/past_control.yaml new file: src/past_control/include/past_control/tools.h new file: src/past_control/launch/past_control.launch.py new file: src/past_control/msg/Obstacle.msg new file: src/past_control/msg/ObstacleArray.msg new file: src/past_control/package.xml new file: src/past_control/src/lane_follower_node.cpp new file: src/past_control/src/obstacle_detector_node.cpp new file: src/past_control/src/racing_orchestrator.cpp new file: src/planner/CMakeLists.txt new file: src/planner/config/planner.yaml new file: src/planner/launch/planner.launch.py new file: src/planner/package.xml new file: src/planner/src/planner_version.cpp modified: src/qr_detection/src/qr_dete_depth.cpp new file: src/racing_control/CMakeLists.txt new file: src/racing_control/include/racing_control/racing_control.hpp new file: src/racing_control/package.xml new file: src/racing_control/src/racing_control.cpp modified: src/vlm_detect/setup.py new file: src/vlm_detect/vlm_detect/__pycache__/__init__.cpython-310.pyc new file: src/vlm_detect/vlm_detect/__pycache__/tts_node.cpython-310.pyc new file: src/vlm_detect/vlm_detect/test_publisher.py new file: src/vlm_detect/vlm_detect/tts_node.py modified: src/vlm_detect/vlm_detect/vlm_node.py new file: tools/measure_turning_radius.py new file: tools/set_volume.py new file: tools/udp_to_cmdvel.py new file: tools/windows_keyboard_control.py new file: vlm_server.py new file: "\350\260\203\350\257\225\350\256\260\345\275\225.Assets/1.png" renamed: "\350\260\203\350\257\225\350\256\260\345\275\225.log" -> "\350\260\203\350\257\225\350\256\260\345\275\225.md"
52 lines
1.6 KiB
YAML
52 lines
1.6 KiB
YAML
# past_control — Racing control stack configuration
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# No a_star_planner_node: global planning handled by Nav2 planner_server via /plan
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# ============================================================
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# lane_follower_node — Visual lane centering
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# ============================================================
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lane_follower_node:
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ros__parameters:
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follow_linear_speed: 0.3
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follow_angular_ratio: 1.0
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image_width: 640.0
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# ============================================================
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# obstacle_detector_node — DNN-based obstacle perception
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# ============================================================
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obstacle_detector_node:
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ros__parameters:
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confidence_threshold: 0.5
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processing_latency: 0.1
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camera_hfov: 1.0472 # 60 degrees
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camera_height: 0.3
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camera_pitch: 0.0
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max_detection_range: 3.0
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publish_rate: 10.0
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# ============================================================
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# racing_orchestrator — Task FSM + PID path following (Nav2 /plan) + arbitration
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# ============================================================
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racing_orchestrator:
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ros__parameters:
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# PID path following (path source: Nav2 planner_server /plan)
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follow_linear_speed: 0.4
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guide_step: 5
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arrive_square: 0.25 # distance^2 threshold (0.5m)
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angular_kp: 10.0
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angular_ki: 0.0
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angular_kd: 0.1
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angular_integral_max: 1.0
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angular_output_max: 2.0
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angular_max_err: 3.14
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# Obstacle avoidance fallback
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avoid_linear_speed: 0.2
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avoid_angular_z: 0.8
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# QR scan mode
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qr_scan_speed: 0.15
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qr_scan_duration: 3.0
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# Control loop rate
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control_rate: 20.0
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