[#408] rviz and launch integration with environment for testing and tuning closed-loop behavior
Description
Updated package controller_testing
to include
- added more parameterization, by converting hardcore values, like stop and report time
- ability to disable, trajectory generation, to use external trajectory generation.
- realtime mode (not faster than realtime)
- publishing
tf
andOdometry
- x-y history plot, with rainbow color progressing with time (can detect reverse movement)
Updated package test_trajectory_following
to include
- support for sim_type=dynamics uses
controller_testing_node
, can run faster than realtime - support for sim_type=kinematics uses
vehicle_kinematics_sim.py
- default sim is
sim_type=dynamics
, for lgsvl usesim_type=lgsvl
, in-
simple_trajectory_following.launch.py
and trajectory_spoofer_mpc_control.launch.py
-
Notes for Reviewer
Update params in src/motion/control/controller_testing/param/defaults.param.yaml
ros2 launch controller_testing controller_testing_node.launch.py real_time_sim:=True with_rviz:=True
To test following a circle
Update params in src/motion/control/controller_testing/param/defaults.param.yaml
ros2 launch test_trajectory_following trajectory_spoofer_mpc_control.launch.py sim_type:=dynamics
Checklist
-
Documentation was updated
/milestone %After AVP
Edited by Jit Ray Chowdhury