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fitParamDelayInputModel.py scripts#

How to use#

python fitParamDelayInputModel.py --bag_file [bagfile] (--cutoff_time [cutoff_time] --cutoff_freq [cutoff_freq] --min_delay [min_delay] --max_delay [max_delay] --delay_incr [delay_incr])
# in round brackets is optional arguments
python fitParamDelayInputModel.py --help # for more information

Requirements python packages#

  • numpy
  • pandas

Required topics#

  • autoware_msgs::VehicleCmd /vehicle_cmd: assuming
    • vehicle_cmd/ctrl_cmd/steering_angle is the steering angle input [rad]
    • vehicle_cmd/ctrl_cmd/linear_velocity is the vehicle velocity input [m/s]
  • autoware_msgs::VehicleStatus /vehicle_status : assuming
    • vehicle_status/angle is the measured steering angle [rad]
    • vehicle_status/speed is the measured vehicle speed [km/h]

Description#

  • Parameter fitting for Input Delay Model (First Order System with Dead Time) with rosbag file input
  • Arguments explaining:
    • CUTOFF_TIME: Cutoff time[sec]. Rosbag file often was start recording before autoware was run. Time before autoware was run should be cut off. This script will only consider data from t=cutoff_time to the end of the bag file (default is 1.0)
    • CUTOFF_FREQ: Cutoff freq for low-pass filter[Hz], negative value will disable low-pass filter (default is 0.1)
    • MIN_DELAY: Min value for searching delay loop (default is 0.1)
    • MAX_DELAY: Max value for searching delay loop (default is 1.0)
    • DELAY_INCR: Step value for searching delay loop (default is 0.01)