Testing/22 03 2026

src/common/common_meta/launch/acceleration_launch.py

@@ -27,15 +27,16 @@ def generate_launch_description():
     )
 
     return LaunchDescription([
-        create_node(pkg='pc_supervisor', params=[{'mission_name': 'acceleration', 'sim_mode': False}]),
+        rosbag_record,
+        # create_node(pkg='pc_supervisor', params=[{'mission_name': 'acceleration', 'sim_mode': False}]),
         IncludeLaunchDescription(   
             PythonLaunchDescriptionSource(rslidar_launch)),
         # IncludeLaunchDescription(
         #     PythonLaunchDescriptionSource(astra_launch)),
         create_node(pkg='can_interface'),
         create_node(pkg='epos_interface'),
         create_node(pkg='perception',
-                    params=[{'slow_straight_cropping': True,
+                    params=[{'slow_straight_cropping': False,
                               'max_x_fov': 50.0,
                               'max_y_fov': 7.0,
                               'max_x_clip': 150.0,
@@ -63,7 +64,6 @@ def generate_launch_description():
         #         '/launch/foxglove_bridge_launch.xml'
         #     ])
         # ),
-        # rosbag_record,
         Node(package='common_meta', executable='param_dumper_exec', name='param_dumper'),
     ])
 

src/common/common_meta/launch/trackdrive_launch.py

@@ -31,32 +31,45 @@ def generate_launch_description():
         create_node(pkg='perception'),
         create_node(pkg='path_planning',
                     params=[{'v_max': 7.0,
-                             'ax_max': 5.0,
-                             'ay_max': 5.0}]),
+                             'ax_max': 3.5,
+                             'ay_max': 3.5}]),
         create_node(pkg='controller',
                     params=[{'look_ahead_distance': 5.0,
                              'optimized_look_ahead_distance': 7.0,
-                             'min_cmd': -5.0,
-                             'max_cmd': 6.0,
+                             'min_cmd': -4.0,
+                             'max_cmd': 4.0,
                              'use_optimized_trajectory': True,
                              'first_lap_steer_control': "PP",
                              'optimized_steer_control': "MPC",
+                             'use_variable_look_ahead_distance' : True,
+                             'min_look_ahead_distance' : 4.0,
+                             'max_look_ahead_distance ' : 8.0,
+                             'lambda_vx' : 0.9,
+                             'lambda_k' : 1.0,
+                             'cost_lateral_error': 15.0,
+                             'cost_angular_error':5.0,
+                             'cost_steering_delta' : 2000.0,
                              'auto_start': False}]),
         create_node(pkg='graph_slam',
                     params=[{'finish_line_offset': 10.0,
                              'add_big_cones': False,
                              'x_big_cone': 7.85,
-                             'y_big_cone': 1.5}]),
+                             'y_big_cone': 1.5,
+                             'store_map' : True,
+                             'store_opt_traj': True,
+                             'load_map' : False,
+                             'load_opt_traj': False}]),
         create_node(pkg='car_state', 
                     params=[{'simulation': False, 
                     'mission': 'trackdrive',
                     'trackdrive_laps': 10}]),
         create_node(pkg='trajectory_optimization',
                     params=[{'v_max': 10.0,
                              'd_min': 1.3,
-                             'mu_y': 0.6,
-                             'mu_throttle': 0.5,
-                             'mu_brake': 0.3}]),
+                             'mu_y': 0.4,
+                             'mu_throttle': 0.4,
+                             'mu_brake': 0.4,
+                             'first_lap_optimization_method': "none"}]),
         create_node(pkg='visualization'),
         # IncludeLaunchDescription(
         #     AnyLaunchDescriptionSource([

src/interfaces/epos_interface/include/epos_interface/epos_interface_node.hpp

@@ -87,4 +87,4 @@ class EPOS_interface : public rclcpp::Node
      * @brief Function to disable and close the EPOS4 controller.
      */
     void clean_and_close();
-};
+};

src/interfaces/epos_interface/src/epos_interface_node.cpp

@@ -146,6 +146,4 @@ int main(int argc, char *argv[])
     rclcpp::spin(EPOS_interface_node);
     rclcpp::shutdown();
     return 0;
-}
-
-
+}

src/perception/config/perception_config.yaml

@@ -15,7 +15,7 @@ perception:
     clipping_box_values_topic: "/perception/clipping_box_values"
 
     wait_driving: false        # Wait for AS_DRIVING status before processing
-    use_artificial_timestamp: false  # Use the node's current time as timestamp instead of the one from the LiDAR messages
+    use_artificial_timestamp: true  # Use the node's current time as timestamp instead of the one from the LiDAR messages
 
     # Deskewing
     deskewing: true               # Motion compensation within each LiDAR scan using point timestamps
@@ -30,10 +30,10 @@ perception:
 
     # Clipping parameters
     clipping: true                 # Enable clipping of the point cloud
-    max_x_clip: 50.0
+    max_x_clip: 40.0
     max_y_clip: 5.0
-    min_x_clip: -30.0
-    min_y_clip: -80.0
+    min_x_clip: -25.0
+    min_y_clip: -72.0
     max_z_clip: 3.0
     min_z_clip: -10.0
 

src/slam/graph_slam/src/graph_slam_node.cpp

@@ -983,7 +983,8 @@ g2o::VertexSE2* GraphSlam::get_last_valid_pose() {
             return pose_vertices_[i];
         }
     }
-    return nullptr;
+    auto v = new g2o::VertexSE2();
+    return v;
 }