How can we tune the vehicle velocity in planning simulator?

[kminoda]

I am currently trying to use a planning simulator in Autoware for our indoor mobile robot.

How can I tune the velocity of the vehicle in the simulator?
I want to decrease the maximum velocity for indoor application, as the default setting of Autoware seems to be pretty fast (maybe up to 30 km/h?)

Thanks!

[takayuki5168]

I think you can set max_velocity in planning here.
https://github.com/tier4/autoware_launch/blob/7a9ad30407e8c780ee1b5d2175d79d360a94dfdc/planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml#L4

Also, acceleration or jerk can be tuned.
https://github.com/tier4/autoware_launch/blob/7a9ad30407e8c780ee1b5d2175d79d360a94dfdc/planning_launch/config/scenario_planning/common/common.param.yaml#L4-L8

[takayuki5168]

Parameters of the control is here.
https://github.com/tier4/autoware_launch/blob/7a9ad30407e8c780ee1b5d2175d79d360a94dfdc/control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml#L8-L10

[takayuki5168]

Parameters of the simulator
https://github.com/autowarefoundation/sample_vehicle_launch/blob/df2c4e6e39822942781d9e9e08749a29c779ed78/sample_vehicle_description/config/simulator_model.param.yaml#L9

[rej55]

@kminoda
If you want to set the maximum velocity in dynamic, please publish /planning/scenario_planning/max_velocity_default.
If you use web_controller, it publishes /planning/scenario_planning/max_velocity_default with input velocity limit

If you want to set the maximum velocity in static, please set the velocity limit in your vector map (ll2 map).

[takayuki5168]

I think we can set max velocity statically by modifying parameters in launcher as commented in the following. Is it wrong?
#189 (comment)

[takayuki5168]

@rej55

[rej55]

It also works by setting the max velocity in the parameters.
However, I don't recommend changing parameters to set the max velocity because it sets in uniform.
In general, I think the maximum velocity should be set in the vector map.

[takayuki5168]

Ahh, now I got it.

@kminoda
In short, if you want to decrease the velocity only for driving inside and not for driving outside, you'd better set max velocity in vector map or the velocity limit as @.rej55 commented.
Or if you wanna set the max velocity for driving both inside and outside, please check the following comment.
#189 (comment)

[kminoda]

OK, thanks for the answers!