-
Notifications
You must be signed in to change notification settings - Fork 128
/
simulator_model.param.yaml
20 lines (20 loc) · 1.29 KB
/
simulator_model.param.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
/**:
ros__parameters:
simulated_frame_id: "base_link" # center of the rear axle.
origin_frame_id: "map"
vehicle_model_type: "DELAY_STEER_ACC_GEARED" # options: IDEAL_STEER_VEL / IDEAL_STEER_ACC / IDEAL_STEER_ACC_GEARED / DELAY_STEER_ACC / DELAY_STEER_ACC_GEARED
initialize_source: "INITIAL_POSE_TOPIC" # options: ORIGIN / INITIAL_POSE_TOPIC
timer_sampling_time_ms: 25
add_measurement_noise: False # the Gaussian noise is added to the simulated results
vel_lim: 50.0 # limit of velocity
vel_rate_lim: 7.0 # limit of acceleration
steer_lim: 1.0 # limit of steering angle
steer_rate_lim: 5.0 # limit of steering angle change rate
acc_time_delay: 0.1 # dead time for the acceleration input
acc_time_constant: 0.1 # time constant of the 1st-order acceleration dynamics
steer_time_delay: 0.24 # dead time for the steering input
steer_time_constant: 0.27 # time constant of the 1st-order steering dynamics
steer_dead_band: 0.0 # dead band of the steering angle
x_stddev: 0.0001 # x standard deviation for dummy covariance in map coordinate
y_stddev: 0.0001 # y standard deviation for dummy covariance in map coordinate
enable_road_slope_simulation: true # if true, slopes in the lanelet map are used to apply an extra acceleration to the ego vehicle