Made u_desired an argument instead of yaml parameter

vortexntnu · Apr 15, 2024 · 739f505 · 739f505
1 parent 6aa786d
commit 739f505
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Showing 2 changed files with 1 addition and 4 deletions.
diff --git a/guidance/hybridpath_guidance/config/hybridpath_guidance_config.yaml b/guidance/hybridpath_guidance/config/hybridpath_guidance_config.yaml
@@ -4,5 +4,4 @@
       lambda_val: 0.15 # Curvature constant
       path_generator_order: 1 # Differentiability order
       dt: 0.1 # Time step
-      u_desired: 0.5 # Desired speed
       mu: 0.03 # Tuning parameter 
diff --git a/guidance/hybridpath_guidance/hybridpath_guidance/hybridpath_guidance_node.py b/guidance/hybridpath_guidance/hybridpath_guidance/hybridpath_guidance_node.py
@@ -18,9 +18,7 @@ def __init__(self):
             parameters=[
                 ('hybridpath_guidance.lambda_val', 0.15),
                 ('hybridpath_guidance.path_generator_order', 1),
-                ('hybridpath_guidance.time_to_max_speed', 10.0),
                 ('hybridpath_guidance.dt', 0.1),
-                ('hybridpath_guidance.u_desired', 0.5),
                 ('hybridpath_guidance.mu', 0.03)
             ])
 
@@ -32,7 +30,6 @@ def __init__(self):
         self.lambda_val = self.get_parameter('hybridpath_guidance.lambda_val').get_parameter_value().double_value
         self.path_generator_order = self.get_parameter('hybridpath_guidance.path_generator_order').get_parameter_value().integer_value
         self.dt = self.get_parameter('hybridpath_guidance.dt').get_parameter_value().double_value
-        self.u_desired = self.get_parameter('hybridpath_guidance.u_desired').get_parameter_value().double_value
         self.mu = self.get_parameter('hybridpath_guidance.mu').get_parameter_value().double_value
         self.eta = np.zeros(3)
 
@@ -53,6 +50,7 @@ def waypoint_callback(self, request, response):
         self.waiting_message_printed = False  # Reset this flag to handle multiple waypoint sets
         self.s = 0
         signals = HybridPathSignals(self.path, self.s)
+        self.u_desired = signals.u_desired
         self.w = signals.get_w(self.mu, self.eta)
         response.success = True
         return response