From 57ef4b4ab123ae15ead8de99d8f5c4da0bc9838d Mon Sep 17 00:00:00 2001 From: Mikkel Skov Maarssoe Date: Wed, 24 Jun 2026 15:00:15 +0200 Subject: [PATCH] added advanced trajectory planner functionality, enabling overtaking of vehicles Signed-off-by: Mikkel Skov Maarssoe --- .../assets/vehicle_params/obstacle.json | 28 +++++++++++++++++++ .../assets/vehicle_params/test_vehicle.json | 27 ++++++++++++++++++ adore_scenarios/simulation_scenarios | 2 +- ros2_workspace/src/adore_libraries/adore_map | 2 +- .../src/adore_libraries/adore_planning | 2 +- ros2_workspace/src/adore_ros2_msgs | 2 +- .../src/adore_ros2_nodes/decision_maker | 2 +- .../src/adore_ros2_nodes/visualizer | 2 +- 8 files changed, 61 insertions(+), 6 deletions(-) create mode 100644 adore_scenarios/assets/vehicle_params/obstacle.json create mode 100644 adore_scenarios/assets/vehicle_params/test_vehicle.json diff --git a/adore_scenarios/assets/vehicle_params/obstacle.json b/adore_scenarios/assets/vehicle_params/obstacle.json new file mode 100644 index 00000000..06617d68 --- /dev/null +++ b/adore_scenarios/assets/vehicle_params/obstacle.json @@ -0,0 +1,28 @@ +{ + "vehicle_id": "obstacle", + "cog_to_front_axle": 0.0, + "rear_axle_to_cog": 0.0, + "wheelbase": 0.5, + "front_axle_to_front_border": 0.0, + "rear_border_to_rear_axle": 0.0, + "mass": 1800, + "friction_coefficient": 0.8, + "cog_height": 0.0, + "front_tire_stiffness": 10.8, + "rear_tire_stiffness": 17.8, + "rotational_inertia_div_mass": 1.57, + "front_track_width": 0.0, + "rear_track_width": 0.0, + "body_width": 1.0, + "body_height": 0.5, + "steering_ratio": 1.0, + "steering_angle_max": 0.7, + "steering_angle_min": -0.7, + "acceleration_max": 1.5, + "acceleration_min": -1.5, + "cornering_stiffness": 63000.0, + "brake_balance_front": 0.6, + "acceleration_balance_front": 0.4, + "vehicle_flag": 0.0 + } + \ No newline at end of file diff --git a/adore_scenarios/assets/vehicle_params/test_vehicle.json b/adore_scenarios/assets/vehicle_params/test_vehicle.json new file mode 100644 index 00000000..0d2ab2f4 --- /dev/null +++ b/adore_scenarios/assets/vehicle_params/test_vehicle.json @@ -0,0 +1,27 @@ +{ + "vehicle_id": "test_vehicle", + "cog_to_front_axle": 1.0, + "rear_axle_to_cog": 1.0, + "wheelbase": 2.0, + "front_axle_to_front_border": 1.25, + "rear_border_to_rear_axle": 1.25, + "mass": 1800, + "friction_coefficient": 0.8, + "cog_height": 0.5, + "front_tire_stiffness": 10.8, + "rear_tire_stiffness": 17.8, + "rotational_inertia_div_mass": 1.57, + "front_track_width": 1.7, + "rear_track_width": 1.7, + "body_width": 2.0, + "body_height": 1.5, + "steering_ratio": 1.0, + "steering_angle_max": 0.7, + "steering_angle_min": -0.7, + "acceleration_max": 1.5, + "acceleration_min": -1.5, + "cornering_stiffness": 63000.0, + "brake_balance_front": 0.6, + "acceleration_balance_front": 0.4, + "vehicle_flag": 0.0 +} \ No newline at end of file diff --git a/adore_scenarios/simulation_scenarios b/adore_scenarios/simulation_scenarios index d8ddbe53..e4c3be65 160000 --- a/adore_scenarios/simulation_scenarios +++ b/adore_scenarios/simulation_scenarios @@ -1 +1 @@ -Subproject commit d8ddbe531a819b9b27728bda247a3cef9d65d424 +Subproject commit e4c3be65e36c5d58193bc4971ab0680950f22eab diff --git a/ros2_workspace/src/adore_libraries/adore_map b/ros2_workspace/src/adore_libraries/adore_map index 2349d3c6..c0fff85f 160000 --- a/ros2_workspace/src/adore_libraries/adore_map +++ b/ros2_workspace/src/adore_libraries/adore_map @@ -1 +1 @@ -Subproject commit 2349d3c6be9328f0652357aba873d0691ec0efb7 +Subproject commit c0fff85fee6dee4d59d982b890932416887caef1 diff --git a/ros2_workspace/src/adore_libraries/adore_planning b/ros2_workspace/src/adore_libraries/adore_planning index 5409ae8f..bc40a1ac 160000 --- a/ros2_workspace/src/adore_libraries/adore_planning +++ b/ros2_workspace/src/adore_libraries/adore_planning @@ -1 +1 @@ -Subproject commit 5409ae8f39fdd1ec9f3689761ae175197e9c6bac +Subproject commit bc40a1ac05dbf983ad00e7e6cff08ea9cb2426d7 diff --git a/ros2_workspace/src/adore_ros2_msgs b/ros2_workspace/src/adore_ros2_msgs index 63f0ed87..b483fe88 160000 --- a/ros2_workspace/src/adore_ros2_msgs +++ b/ros2_workspace/src/adore_ros2_msgs @@ -1 +1 @@ -Subproject commit 63f0ed87bcb6cdb42dbf0ecc191721b77e838d08 +Subproject commit b483fe88137a003d8f0e359fb4f99d2ea3c425e9 diff --git a/ros2_workspace/src/adore_ros2_nodes/decision_maker b/ros2_workspace/src/adore_ros2_nodes/decision_maker index f4467ff1..d31b0780 160000 --- a/ros2_workspace/src/adore_ros2_nodes/decision_maker +++ b/ros2_workspace/src/adore_ros2_nodes/decision_maker @@ -1 +1 @@ -Subproject commit f4467ff1698621f9c89996590fc8213a631d05c0 +Subproject commit d31b0780417940219f8053cf834bcdcced287099 diff --git a/ros2_workspace/src/adore_ros2_nodes/visualizer b/ros2_workspace/src/adore_ros2_nodes/visualizer index 59e24559..f88bf4e8 160000 --- a/ros2_workspace/src/adore_ros2_nodes/visualizer +++ b/ros2_workspace/src/adore_ros2_nodes/visualizer @@ -1 +1 @@ -Subproject commit 59e2455995d622876b247a18eb7c0ee2419adf04 +Subproject commit f88bf4e823639872e5cd40d7e711fbeddd59efb7