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[Feature]: Implement Pure Pursuit Controller #67

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schwalga opened this issue Nov 30, 2022 · 2 comments · Fixed by #132
Closed

[Feature]: Implement Pure Pursuit Controller #67

schwalga opened this issue Nov 30, 2022 · 2 comments · Fixed by #132
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@schwalga @Julian-Graf
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Acting enhancement New feature or request

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@schwalga
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Description

Implement node that calculates steering angle based on Pure Pursuit Controller

Definition of Done

Publishes correct steering angle based on Pure Pursuit Controller
@schwalga schwalga added enhancement New feature or request Acting labels Nov 30, 2022
@Julian-Graf
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Test with Dummy Trajectory

@Julian-Graf Julian-Graf self-assigned this Dec 6, 2022
Julian-Graf added a commit that referenced this issue Dec 6, 2022
@Julian-Graf
feat(#67): Added Pure Pursuit Controller stub
02c03f2
Julian-Graf added a commit that referenced this issue Dec 6, 2022
@Julian-Graf
feat(#67): Added first implementation of Pure Pursuit Controller
b7acf2b
Julian-Graf added a commit that referenced this issue Dec 12, 2022
@Julian-Graf
feat(#67): Added Pure Pursuit Controller stub
3e733d3
Julian-Graf added a commit that referenced this issue Dec 12, 2022
@Julian-Graf
feat(#67): Added first implementation of Pure Pursuit Controller
e85e2fd
schwalga pushed a commit that referenced this issue Dec 31, 2022
@Julian-Graf
feat(#67): Added Pure Pursuit Controller stub
7c80bfa
Julian-Graf added a commit that referenced this issue Jan 5, 2023
@Julian-Graf
feat(#67): Added Pure Pursuit Controller stub
a31cef8
Julian-Graf added a commit that referenced this issue Jan 5, 2023
@Julian-Graf
feat(#67): Added first implementation of Pure Pursuit Controller
1e5e0b4
Julian-Graf added a commit that referenced this issue Jan 5, 2023
@Julian-Graf
feat(#67): Added Pure Pursuit Controller stub
e8a8e8c
Julian-Graf added a commit that referenced this issue Jan 5, 2023
@Julian-Graf
feat(#67): Added first implementation of Pure Pursuit Controller
78c1598
Julian-Graf added a commit that referenced this issue Jan 5, 2023
@Julian-Graf
feat(#67): Added Pure Pursuit Controller stub
860fbc4
Julian-Graf added a commit that referenced this issue Jan 5, 2023
@Julian-Graf
feat(#67): Added first implementation of Pure Pursuit Controller
766c67b
schwalga pushed a commit that referenced this issue Jan 7, 2023
feat(#67): Manually added all the work done in 66-test.
cc59a2e 
 Also incorporated feedback from #126.
schwalga pushed a commit that referenced this issue Jan 7, 2023
fix(#67): Forgot to add files to the commit :|
2ac34f2
schwalga pushed a commit that referenced this issue Jan 7, 2023
feat(#67): Heading updates are now based on new positions, as they sh…
adfe0ba 
…ould be. Positions are only updated when there was a significant change.

Started filtering GPS signals.
schwalga pushed a commit that referenced this issue Jan 7, 2023
fix(#67): Tested GPS smoothing for different filter settings
49900cf
schwalga pushed a commit that referenced this issue Jan 7, 2023
fix(#67): Fixes to comply with coding guidelines
4560331
schwalga pushed a commit that referenced this issue Jan 7, 2023
feat(#67): Started adding documentation for GPS sensor (might be move…
7522954 
…d to a different issue)
@schwalga schwalga self-assigned this Jan 7, 2023
schwalga added a commit that referenced this issue Jan 7, 2023
@schwalga
feat(#67): Documentation for GPS sensor
c4c8d71
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schwalga commented Jan 7, 2023

While the pure pursuit controller appears to be working now, it can't be tested with the current state of the GPS sensor.
Since simple filters are not working, I created a separate issue to implement a more sophisticated filter.

After removing said simple attempt, this controller could be considered done.

schwalga pushed a commit that referenced this issue Jan 8, 2023
fix(#67): Version for testing. Removed a lot of unused code.
7379fe2
@schwalga schwalga linked a pull request Jan 8, 2023 that will close this issue
67 feature implement pure pursuit controller #132
Merged
7 tasks
@schwalga schwalga mentioned this issue Jan 8, 2023
Merged
7 tasks
schwalga added a commit that referenced this issue Jan 8, 2023
@schwalga
fix(#67) 80 > 79 :)
0cfca64
schwalga added a commit that referenced this issue Jan 8, 2023
@schwalga
fix(#67) removed trailing whitespaces
73ef8fc
schwalga pushed a commit that referenced this issue Jan 9, 2023
fix(#67): Implemented feedback.
426f8db
schwalga added a commit that referenced this issue Jan 9, 2023
@schwalga
fix(#67) fixed documentation
58f7565
schwalga pushed a commit that referenced this issue Jan 10, 2023
fix(#67): Removed noise from GNSS sensor. Fix an issue with the traje…
af31c0f 
…ctory.

Added one more publisher for debugging.
schwalga pushed a commit that referenced this issue Jan 22, 2023
fix(#67): alpha was calculated using the wrong position
da67b42
schwalga pushed a commit that referenced this issue Jan 22, 2023
feat(#67): added a pid controller to the steering angle
8418119
schwalga pushed a commit that referenced this issue Jan 27, 2023
fix(#67): found and fixed a few critical mistakes
b5ceb5b
schwalga pushed a commit that referenced this issue Jan 27, 2023
fix(#67): tweaked some parameters
b2d7820
schwalga pushed a commit that referenced this issue Jan 28, 2023
fix(#67): added GPS references for Towns: 1, 2, 3, 4, 5 and 10
e3b21c8
schwalga pushed a commit that referenced this issue Jan 30, 2023
fix(#67): tuned parameters
d33aba5
schwalga pushed a commit that referenced this issue Jan 30, 2023
fix(#67): resolved conflict
17d8593
schwalga added a commit that referenced this issue Jan 31, 2023
@schwalga
67 feature implement pure pursuit controller (#132)
0d1aecb 
# Description

This PR implements the pure pursuit controller. The first tests suggest,
that it is working as intended, however due to problems with the GPS
signal the car is not able to hold course at the moment.

While i tried fixing the problem at first under this issue, after a few
hours of trial and error I realise, that this warrants [a seperate
issue](#131). The documentation added in this PR gives a first overview
over the problem it will be amended with the final filter in #131. For
now I have left the simple filter added to `DummyTrajectorySub.py` so
that the controller can be tested by a reviewer.

Fixes #67
## Time invested

- 16h @schwalga (Most of the work has been done in 66-test due to a
misunderstanding (see cc59a2e))
- 7h @Julian-Graf 

## Type of change

- New feature (non-breaking change which adds functionality)

## Does this PR introduce a breaking change?

- No

## Most important changes

The most important file is `pure_pursuit_controller.py`

# Checklist:

- [x] My code follows the style guidelines of this project
- [x] I have performed a self-review of my own code
- [x] I have commented my code, particularly in hard-to-understand areas
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works (might be obsolete with CI later on)
- [x] New and existing unit tests pass locally with my changes (might be
obsolete with CI later on)
schwalga pushed a commit that referenced this issue Feb 16, 2023
@Julian-Graf
feat(#67): Added Pure Pursuit Controller stub
62f4b41
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@schwalga schwalga

@Julian-Graf Julian-Graf

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Acting enhancement New feature or request
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PAF22 Backlog
Status: ✅ Done
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67 feature implement pure pursuit controller ll7/paf22
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@schwalga @Julian-Graf