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tostmannplatz_straight.py
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from launch import LaunchDescription
from launch_ros.actions import Node
import os
def generate_launch_description():
launch_file_dir = os.path.dirname(os.path.realpath(__file__))
map_image_folder = os.path.abspath(os.path.join(launch_file_dir, "../assets/maps/"))
map_folder = os.path.abspath(os.path.join(launch_file_dir, "../assets/tracks/"))
return LaunchDescription([
Node(
package='foxglove_bridge',
namespace='global',
executable='foxglove_bridge',
name='foxglove_bridge',
output='screen',
parameters=[
{'port': 8765},
],
),
Node(
package='visualizer',
namespace='ego_vehicle',
executable='visualizer',
name='visualizer',
parameters=[
{"asset folder": map_image_folder}
]
),
Node(
package='simulated_vehicle',
namespace='ego_vehicle',
executable='simulated_vehicle',
name='simulated_vehicle',
parameters=[
{"set_start_position_x": 605109.81},
{"set_start_position_y": 5795182.83},
{"set_start_psi": 4.0}, # Radian
{"controllable": True},
#{"other_vehicle_namespaces": []}
]
),
Node(
package='decision_maker',
namespace='ego_vehicle',
executable='decision_maker',
name='decision_maker',
parameters=[
{"debug_mode_active": True},
{"optinlc_route_following": True}, # 0 for Lane following, 1 for OptiNLC route following
{"planner_settings_keys": [ "wheel_base",
"lateral_weight",
"heading_weight",
"maximum_velocity",
"min_distance_to_vehicle_ahead",
"look_ahead_for_curvature",
"look_behind_for_curvature"]},
{"planner_settings_values": [ 2.7,
0.2,
0.02,
5.0,
10.0,
40.0,
20.0]}
],
),
Node(
package='mission_control',
namespace='ego_vehicle',
executable='mission_control',
name='mission_control',
parameters=[
{"R2S map file": map_folder + "/de_bs_borders_wfs.r2sr"},
{"goal_position_x" : 605055.41},
{"goal_position_y": 5795026.90}
]
),
Node(
package='trajectory_tracker',
namespace='ego_vehicle',
executable='trajectory_tracker_node',
name='trajectory_tracker',
parameters=[
{"set_controller": 1}, # 0 for MPC, 1 for PID
{"controller_settings_keys": [ "kp_x",
"ki_x",
"velocity_weight",
"kp_y",
"ki_y",
"heading_weight",
"kp_omega",
"dt",
"steering_comfort"]},
{"controller_settings_values": [ 0.3,
0.02,
0.3,
0.25,
0.0,
0.3,
0.1,
0.05,
2.5]}
],
#output={'both': 'log'},
),
########################################### second vehicle #########################################
#Node(
# package='simulated_vehicle',
# namespace='traffic_participant_2',
# executable='simulated_vehicle',
# name='simulated_vehicle',
# parameters=[
# {"set_start_position_x": 604786.672},
# {"set_start_position_y": 5797162.799},
# {"set_start_psi": 1.22},
# {"set_shape": [4.5, 2.0, 2.0]}, # length, width, height
# {"controllable": True},
# ]
#),
# Node(
# package='decision_maker',
# namespace='traffic_participant_2',
# executable='decision_maker',
# name='decision_maker',
# parameters=[
# {"debug_mode_active": False},
# {"optinlc_route_following": True}, # 0 for Lane following, 1 for OptiNLC route following
# {"planner_settings_keys": [ "wheel_base",
# "lateral_weight",
# "heading_weight",
# "maximum_velocity",
# "min_distance_to_vehicle_ahead",
# "look_ahead_for_curvature",
# "look_behind_for_curvature"]},
# {"planner_settings_values": [ 2.7,
# 0.2,
# 0.02,
# 5.0,
# 10.0,
# 40.0,
# 20.0]}
# ],
# ),
# Node(
# package='mission_control',
# namespace='traffic_participant_2',
# executable='mission_control',
# name='mission_control',
# parameters=[
# {"R2S map file": os.path.abspath("assets/tracks/de_bs_borders_wfs.r2sr")},
# {"goal_position_x" : 604791.697},
# {"goal_position_y": 5797180.0}
# ]
# ),
# Node(
# package='trajectory_tracker',
# namespace='traffic_participant_2',
# executable='trajectory_tracker_node',
# name='trajectory_tracker',
# parameters=[
# {"set_controller": 1}, # 0 for MPC, 1 for PID
# {"controller_settings_keys": [ "kp_x",
# "ki_x",
# "velocity_weight",
# "kp_y",
# "ki_y",
# "heading_weight",
# "kp_omega",
# "dt",
# "steering_comfort"]},
# {"controller_settings_values": [ 0.3,
# 0.02,
# 0.3,
# 0.25,
# 0.0,
# 0.3,
# 0.1,
# 0.05,
# 2.5]}
# ],
# #output={'both': 'log'},
# ),
# Node(
# package='trajectory_tracker',
# namespace='ego_vehicle',
# executable='trajectory_tracker_node',
# name='trajectory_tracker',
# parameters=[
# {"vehicle_type": "simulation"}, # decide how to do turning
# {"set_controller": 2}, # 0 for MPC, 1 for PID
# {"controller_settings_keys": [ "horizon_steps",
# "max_iterations",
# "dt",
# "wheelbase",
# "lateral_weight",
# "longitudinal_weight",
# "heading_weight",
# "vel_weight",
# "acc_weight",
# "jerk_weight",
# "steer_rate_weight",
# "steer_weight",
# "convergence_threshold",
# "debug active"]},
# {"controller_settings_values": [ 60,
# 500,
# 0.05,
# 2.7,
# 10.0,
# 1.0,
# 3.0,
# 10.0,
# 5.0,
# 20.0,
# 10.0,
# 1.0,
# 0.00000001,
# 0]}
# ],
# #output={'both': 'log'},
# ),
]
)