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Chore (control): Make steering gain tunable from rqt in simple_pure_pursuit #59

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Chore (control): Make steering gain tunable from rqt in simple_pure_pursuit #59

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2 changes: 1 addition & 1 deletion ...ichallenge_submit/simple_pure_pursuit/include/simple_pure_pursuit/simple_pure_pursuit.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,7 @@ class SimplePurePursuit : public rclcpp::Node {
double external_target_vel_;
double curve_param_max_steer_angle_;
double curve_param_deceleration_vel_;
const double steering_tire_angle_gain_;
double steering_tire_angle_gain_;
OnSetParametersCallbackHandle::SharedPtr reset_param_handler_;


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4 changes: 4 additions & 0 deletions aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/src/simple_pure_pursuit.cpp
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Expand Up @@ -187,6 +187,10 @@ rcl_interfaces::msg::SetParametersResult SimplePurePursuit::parameter_callback(c
external_target_vel_ = parameter.as_double();
RCLCPP_INFO(SimplePurePursuit::get_logger(), "external_target_vel changed to %f", external_target_vel_);
}
else if (parameter.get_name() == "steering_tire_angle_gain") {
steering_tire_angle_gain_ = parameter.as_double();
RCLCPP_INFO(SimplePurePursuit::get_logger(), "steering_tire_angle_gain changed to %f", steering_tire_angle_gain_);
}
}
return result;
}
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