Pure_pursuit_for_vision 1.0.17

edit
velocity: deaccelerate on curved path

Pure_pursuit_for_vision 1.0.16

edit
look-ahead distance: sigmoid function --> second order

Pure Pursuit For Vision and GPS and Fusion

revised version
Version : 1.0.15
Date : 2020.12.03

Step

source ros1, workspace
Command 'roslaunch pure_pursuit_for_vision pure_pursuit_for_vision.launch'

Topic list
Pub

/move_car (Desired speed, Steer)
/mission_manager/nav_pilot
/tracking_points

Sub

/enetsad/centerPt
/Joint_state
/Ioniq_info
/hdmap/path
/utm_fix
/gps_yaw
/hdmap/switch_info
/hdmap/mission_info
/planner/flag

Update

Update the MPTG Switch.  

Pure Pursuit For Vision and GPS and Fusion

revised version
Version : 1.0.14
Date : 2020.11.26

Step

1. source ros1, workspace
2. Command 'roslaunch pure_pursuit_for_vision pure_pursuit_for_vision.launch'

Topic list
Pub

1. /move_car (Desired speed, Steer)
2. /mission_manager/nav_pilot
3. /tracking_points

Sub

1. /enetsad/centerPt
2. /Joint_state
3. /Ioniq_info
4. /hdmap/path
5. /utm_fix
6. /gps_yaw
7. /hdmap/switch_info
8. /hdmap/mission_info

Update

1. Update ros param code.

Pure Pursuit For Vision and GPS and Fusion

add the subscriber mission_info

Pure Pursuit For Vision and GPS

Version : 1.0.12
Date : 2020.11.25

Step

1. source ros1, workspace
2. Command 'roslaunch pure_pursuit_for_vision pure_pursuit_for_vision.launch'

Topic list
Pub

1. /move_car (Desired speed, Steer)
2. /mission_manager/nav_pilot

Sub

1. /enetsad/centerPt
2. /Joint_state
3. /Ioniq_info
4. /hdmap/path
5. /utm_fix
6. /gps_yaw
7. /hdmap/switch_info

Update

Pure Pursuit For Vision and GPS

Version : 1.0.11
Date : 2020.11.14

Step

1. source ros1, workspace
2. Command 'roslaunch pure_pursuit_for_vision pure_pursuit_for_vision.launch'

Topic list
Pub

1. /move_car (Desired speed, Steer)
2. /mission_manager/nav_pilot

Sub

1. /enetsad/centerPt
2. /Joint_state
3. /Ioniq_info
4. /hdmap/path
5. /utm_fix
6. /gps_yaw
7. /hdmap/switch_info

Update

1. Pure Pursuit only can drive

Pure Pursuit For Vision and GPS

Version : 1.0.10
Date : 2020.11.13

Step

1. source ros1, workspace
2. Command 'roslaunch pure_pursuit_for_vision pure_pursuit_for_vision.launch'

Topic list
Pub

1. /move_car (Desired speed, Steer)
2. /mission_manager/nav_pilot

Sub

1. /enetsad/centerPt
2. /Joint_state
3. /Ioniq_info
4. /hdmap/path
5. /utm_fix
6. /gps_yaw
7. /hdmap/switch_info

Update

1. Speed is changed on curve
2. Need to be run with Stanley
3. Add HL switch

Pure Pursuit For Vision and GPS

Version : 1.0.9
Date : 2020.11.04

Step

1. source ros1, workspace
2. Command 'roslaunch pure_pursuit_for_vision pure_pursuit_for_vision.launch'

Topic list
Pub

1. /move_car (Desired speed, Steer)
2. /mission_manager/nav_pilot

Sub

1. /enetsad/centerPt
2. /Joint_state
3. /Ioniq_info
4. /hdmap/path
5. /utm_fix
6. /gps_yaw

Update

1. (update soon)
2. Modes(Vision, GPS) are changed when vision based lane detection is unstable.

Pure Pursuit For Vision and GPS

Version : 1.0.8
Date : 2020.11.03

Step

1. source ros1, workspace
2. Command 'roslaunch pure_pursuit_for_vision pure_pursuit_for_vision.launch'

Topic list
Pub

1. /move_car (Desired speed, Steer)
2. /mission_manager/nav_pilot

Sub

1. /enetsad/centerPt
2. /Joint_state
3. /Ioniq_info
4. /hdmap/path
5. /utm_fix
6. /gps_yaw

Update

1. (update soon)
2. Modes(Vision, GPS) are changed when vision based lane detection is unstable.