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81 changes: 81 additions & 0 deletions
81
control/joy_controller/include/joy_controller/joy_converter/xbox_joy_converter.hpp
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| // Copyright 2023 The Autoware Contributors | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_ | ||
| #define JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_ | ||
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| #include "joy_controller/joy_converter/joy_converter_base.hpp" | ||
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| #include <algorithm> | ||
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| namespace joy_controller | ||
| { | ||
| class XBOXJoyConverter : public JoyConverterBase | ||
| { | ||
| public: | ||
| explicit XBOXJoyConverter(const sensor_msgs::msg::Joy & j) : j_(j) {} | ||
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| float accel() const { return std::max(0.0f, -((RT() - 1.0f) / 2.0f)); } | ||
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| float brake() const { return std::max(0.0f, -((LT() - 1.0f) / 2.0f)); } | ||
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| float steer() const { return LStickLeftRight(); } | ||
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| bool shift_up() const { return CursorUpDown() == 1.0f; } | ||
| bool shift_down() const { return CursorUpDown() == -1.0f; } | ||
| bool shift_drive() const { return CursorLeftRight() == 1.0f; } | ||
| bool shift_reverse() const { return CursorLeftRight() == -1.0f; } | ||
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| bool turn_signal_left() const { return LB(); } | ||
| bool turn_signal_right() const { return RB(); } | ||
| bool clear_turn_signal() const { return A(); } | ||
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| bool gate_mode() const { return B(); } | ||
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| bool emergency_stop() const { return ChangeView(); } | ||
| bool clear_emergency_stop() const { return Menu(); } | ||
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| bool autoware_engage() const { return X(); } | ||
| bool autoware_disengage() const { return Y(); } | ||
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| bool vehicle_engage() const { return LStickButton(); } | ||
| bool vehicle_disengage() const { return RStickButton(); } | ||
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| private: | ||
| float LStickLeftRight() const { return j_.axes.at(0); } | ||
| float LStickUpDown() const { return j_.axes.at(1); } | ||
| float RStickLeftRight() const { return j_.axes.at(2); } | ||
| float RStickUpDown() const { return j_.axes.at(3); } | ||
| float RT() const { return j_.axes.at(4); } | ||
| float LT() const { return j_.axes.at(5); } | ||
| float CursorLeftRight() const { return j_.axes.at(6); } | ||
| float CursorUpDown() const { return j_.axes.at(7); } | ||
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| bool A() const { return j_.buttons.at(0); } | ||
| bool B() const { return j_.buttons.at(1); } | ||
| bool X() const { return j_.buttons.at(3); } | ||
| bool Y() const { return j_.buttons.at(4); } | ||
| bool LB() const { return j_.buttons.at(6); } | ||
| bool RB() const { return j_.buttons.at(7); } | ||
| bool Menu() const { return j_.buttons.at(11); } | ||
| bool LStickButton() const { return j_.buttons.at(13); } | ||
| bool RStickButton() const { return j_.buttons.at(14); } | ||
| bool ChangeView() const { return j_.buttons.at(15); } | ||
| bool Xbox() const { return j_.buttons.at(16); } | ||
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| const sensor_msgs::msg::Joy j_; | ||
| }; | ||
| } // namespace joy_controller | ||
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| #endif // JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_ |
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79 changes: 79 additions & 0 deletions
79
control/lane_departure_checker/schema/lane_departure_checker.json
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| @@ -0,0 +1,79 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for lane_departure_checker", | ||
| "type": "object", | ||
| "definitions": { | ||
| "lane_departure_checker": { | ||
| "type": "object", | ||
| "properties": { | ||
| "footprint_margin_scale": { | ||
| "type": "number", | ||
| "default": 1.0, | ||
| "description": "Coefficient for expanding footprint margin. Multiplied by 1 standard deviation." | ||
| }, | ||
| "resample_interval": { | ||
| "type": "number", | ||
| "default": 0.3, | ||
| "description": "Minimum Euclidean distance between points when resample trajectory.[m]." | ||
| }, | ||
| "max_deceleration": { | ||
| "type": "number", | ||
| "default": 2.8, | ||
| "description": "Maximum deceleration when calculating braking distance." | ||
| }, | ||
| "delay_time": { | ||
| "type": "number", | ||
| "default": 1.3, | ||
| "description": "Delay time which took to actuate brake when calculating braking distance. [second]." | ||
| }, | ||
| "max_lateral_deviation": { | ||
| "type": "number", | ||
| "default": 2.0, | ||
| "description": "Maximum lateral deviation in vehicle coordinate. [m]." | ||
| }, | ||
| "max_longitudinal_deviation": { | ||
| "type": "number", | ||
| "default": 2.0, | ||
| "description": "Maximum longitudinal deviation in vehicle coordinate. [m]." | ||
| }, | ||
| "max_yaw_deviation_deg": { | ||
| "type": "number", | ||
| "default": 60.0, | ||
| "description": "Maximum ego yaw deviation from trajectory. [deg]." | ||
| }, | ||
| "ego_nearest_dist_threshold": { | ||
| "type": "number" | ||
| }, | ||
| "ego_nearest_yaw_threshold": { | ||
| "type": "number" | ||
| }, | ||
| "min_braking_distance": { | ||
| "type": "number" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "footprint_margin_scale", | ||
| "resample_interval", | ||
| "max_deceleration", | ||
| "max_lateral_deviation", | ||
| "max_longitudinal_deviation", | ||
| "max_yaw_deviation_deg", | ||
| "ego_nearest_dist_threshold", | ||
| "ego_nearest_yaw_threshold", | ||
| "min_braking_distance" | ||
| ] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/lane_departure_checker" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
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