Soulless2019/src/launch/simple_steer.launch at master · ranakhalil/Soulless2019 · GitHub

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<launch>
  <arg name="camera_port" default="1"/>
  <arg name="gps_serial_port" default="/dev/ttyACM1"/>
  <arg name="simple_steer" default="true"/>
  <arg name="poly_deg" default="1"/>
  <arg name="can_channel" default="0"/>
  <arg name="mode" default="record"/>
  <arg name="visualize_trajectory" default="false"/>
  <arg name="not_testing" default="true"/>
  <node name="trajectory_arc_node" pkg="trajectory_node" type="trajectory_node">
    <param name="visualize" value="$(arg visualize_trajectory)" />
  </node>
  <node name="segmentation_node" pkg="segmentation_node" type="segment.py" />
  <group if="$(arg not_testing)">
    <node name="obd_reader" pkg="obd_reader" type="obd_reader.py" />
    <node name="roscco_node" pkg="roscco" type="roscco_node">
      <param name="_can_channel" value="$(arg can_channel)"/>
    </node>
    <node name="camera_node" pkg="camera_node" type="camera.py" >
     <param name="camera_port" value="$(arg camera_port)" />
    </node>
    <include file="$(find razor_imu_9dof)/launch/razor-pub.launch" />
    <node name="gps" pkg="gps" type="node.py" >
      <param name="serial_port" value="$(arg gps_serial_port)" />
    </node>
  </group>
  <node ns="speed" name="lateral_pid" pkg="pid" type="controller" >
    <param name="Kp" value="0.02" />
    <param name="Ki" value="0.001" />
    <param name="Kd" value="0" />
    <param name="upper_limit" value="1" />
    <param name="lower_limit" value="-1" />
    <param name="windup_limit" value="1" />
    <param name="max_loop_frequency" value="100.0" />
    <param name="min_loop_frequency" value="100.0" />

    <remap from="state" to="/current_velocity"/>
    <remap from="control_effort" to="/throttle"/>
  </node>


  <node ns="steer" name="lateral_pid" pkg="pid" type="controller" >
    <param name="Kp" value="0.001" />
    <param name="Ki" value="0.002" />
    <param name="Kd" value="0.00" />
    <param name="upper_limit" value="1" />
    <param name="lower_limit" value="-1" />
    <param name="windup_limit" value="100" />
    <param name="max_loop_frequency" value="100.0" />
    <param name="min_loop_frequency" value="100.0" />

    <remap from="state" to="/current_steering_angle"/>
    <remap from="setpoint" to="/steering"/>
    <remap from="control_effort" to="/steer_torque"/>
  </node>
  <node name="master" pkg="master" type="node.py">
    <param name="mode" value="$(arg mode)"/>
  </node>

  <node name="relay_speed" pkg="lateral_controller" type="relay.py"/>
  <node name="relay_steer" pkg="steer_relay" type="relay.py"/>
</launch>