Comments (2)
in the default.yaml
you can specify the controller like this
controller:
type: pid_controller # this has to be exactly the same name as the controller py file
args:
lat:
k_p: 0.75
k_d: 0.02
k_i: 0.4
lon:
k_p: 0.37
k_d: 0.024
k_i: 0.032
dynamic: false # whether use dynamic pid setting
dt: ${world.fixed_delta_seconds} # this should be equal to your simulation time-step
max_brake: 1.0
max_throttle: 1.0
max_steering: 0.3
and you need write some controller algorithm in opencda/core/actuation/xxx_controller.py
I don't know if it's right or not, I hope it can help you.
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in the
default.yaml
you can specify the controller like thiscontroller: type: pid_controller # this has to be exactly the same name as the controller py file args: lat: k_p: 0.75 k_d: 0.02 k_i: 0.4 lon: k_p: 0.37 k_d: 0.024 k_i: 0.032 dynamic: false # whether use dynamic pid setting dt: ${world.fixed_delta_seconds} # this should be equal to your simulation time-step max_brake: 1.0 max_throttle: 1.0 max_steering: 0.3and you need write some controller algorithm in
opencda/core/actuation/xxx_controller.py
I don't know if it's right or not, I hope it can help you.
and you also can read the doc with customization
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