feat(vehicle_cmd_gate): improve control command filter to prevent sudden acc and steer #948
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autowarefoundation#4599) * feat(vehicle_cmd_gate): variable filter limits for different vehicle speed Signed-off-by: Takamasa Horibe <[email protected]> * add steer diff test Signed-off-by: Takamasa Horibe <[email protected]> * add node test for vehicle_cmd_gate Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> * update readme Signed-off-by: Takamasa Horibe <[email protected]> * add is_filter_activated msg Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> * update is_activate for each field Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> * Update control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp * add function test for interpolation Signed-off-by: Takamasa Horibe <[email protected]> * fix format Signed-off-by: Takamasa Horibe <[email protected]> * remove unused file Signed-off-by: Takamasa Horibe <[email protected]> * add missing depend Signed-off-by: Takamasa Horibe <[email protected]> --------- Signed-off-by: Takamasa Horibe <[email protected]>
* feat: add marker of cmd gate filter Signed-off-by: tomoya.kimura <[email protected]> * feat: add sphere marker Signed-off-by: tomoya.kimura <[email protected]> * misc Signed-off-by: tomoya.kimura <[email protected]> --------- Signed-off-by: tomoya.kimura <[email protected]>
…warefoundation#4918) * fix(vehicle_cmd_gate): use real velocity for the lateral filter Signed-off-by: Takamasa Horibe <[email protected]> * fix test Signed-off-by: Takamasa Horibe <[email protected]> --------- Signed-off-by: Takamasa Horibe <[email protected]>
…ndation#5044) * feat(vehicle_cmd_gate): add steering angle and rate filter Signed-off-by: Takamasa Horibe <[email protected]> * update test Signed-off-by: Takamasa Horibe <[email protected]> --------- Signed-off-by: Takamasa Horibe <[email protected]>
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Description
Cherry-pick PRs for steering and acceleration limit in vehicle_cmd_gate filter.
Tests performed
psim
Effects on system behavior
steering and acceleration are limited in the given parameters.
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