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demo_vehicle_cfg03.launch
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<!--********************************************************************************
* Copyright (C) 2017-2020 German Aerospace Center (DLR).
* Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
* http://www.eclipse.org/legal/epl-2.0.
*
* SPDX-License-Identifier: EPL-2.0
*
* Contributors:
* Daniel Heß - initial API and implementation
*
* A demo CAV configuration with lane-following/lane-change behavior.
********************************************************************************-->
<launch>
<arg name="do_respawn" default="false" doc="(de)activate respawn"/>
<arg name="em_cancel_active" default="true" doc="allow lane change canceling emergency maneuver"/>
<arg name="em_continue_active" default="true" doc="allow lane change continuing emergency maneuver"/>
<arg name="objective_names" default="const_penalty,MinimumNavigationCostOnLane,NormalizedNavigationCost,LongitudinalAccelerationCost,LongitudinalJerkCost,AverageProgressLoss,TTC_nom" doc="names of objectives to be used in maneuver selection"/>
<arg name="objective_weights" default="1,1,0,0,0,1,1.5" doc="weights of objectives for maneuver selection"/>
<include ns="PARAMS" file="$(dirname)/adore_params_vehicle_independent.launch"/>
<include ns="PARAMS" file="$(dirname)/adore_params_vehicle_fascare.launch"/>
<param name="PARAMS/navigation/active_plotting_global" value="false" type="bool" />
<node name="vmodel" pkg="adore_if_ros" type="adore_vehiclemodel_node"/>
<node name="smodel" pkg="adore_if_ros" type="adore_objectdetectionmodel_node"/>
<node name="lmap" pkg="adore_if_ros" type="adore_mapprovider_node" />
<node name="tracker" pkg="adore_if_ros" type="adore_feedbackcontroller_node"/>
<node name="lnav" pkg="adore_if_ros" type="adore_navigation_node"/>
<node name="lvprovider" pkg="adore_if_ros" type="adore_lvprovider_node"/>
<node name="predictor" pkg="adore_if_ros" type="adore_prediction_provider"/>
<node name="predictionFilter" pkg="adore_if_ros" type="adore_prediction_filter">
<remap from="ENV/Prediction/expected" to="ENV/Prediction/worstcase"/>
</node>
<node name="decision_making" pkg="adore_if_ros" type="adore_tactical_planner_node" respawn="$(arg do_respawn)">
<param name="objective_names" type="string" value="$(arg objective_names)"/>
<param name="objective_weights" type="string" value="$(arg objective_weights)"/>
</node>
<node name="planner_lf_c" pkg="adore_if_ros" type="adore_trajectory_planner_lf_node" respawn="$(arg do_respawn)">
<param name='name' type='string' value='lf'/>
<param name='id' type='int' value='0'/>
<param name='speed_scale' type='double' value='1'/>
<param name='lateral_i_grid' type='double' value='0'/>
<param name='stop_point_id' type='int' value='-1'/>
<param name='const_penalty' type='double' value='0'/>
</node>
<node name="planner_lcl" pkg="adore_if_ros" type="adore_trajectory_planner_lc_node" respawn="$(arg do_respawn)">
<param name='direction' type='string' value='left'/>
<param name='name' type='string' value='lcl'/>
<param name='id' type='int' value='100'/>
<param name='speed_scale' type='double' value='1'/>
<param name='lateral_i_grid' type='double' value='0'/>
<param name='const_penalty' type='double' value='0'/>
<param name="em_cancel_active" type="bool" value="$(arg em_cancel_active)"/>
<param name="em_continue_active" type="bool" value="$(arg em_continue_active)"/>
</node>
<node name="planner_lcr" pkg="adore_if_ros" type="adore_trajectory_planner_lc_node" respawn="$(arg do_respawn)">
<param name='direction' type='string' value='right'/>
<param name='name' type='string' value='lcr'/>
<param name='id' type='int' value='200'/>
<param name='speed_scale' type='double' value='1'/>
<param name='lateral_i_grid' type='double' value='0'/>
<param name="em_cancel_active" type="bool" value="$(arg em_cancel_active)"/>
<param name="em_continue_active" type="bool" value="$(arg em_continue_active)"/>
</node>
</launch>