Control data collecting tool

This package provides tools for automatically collecting data using pure pursuit control within a specified rectangular area.

Overview

• This package aims to collect a dataset consisting of control inputs (i.e. control_cmd) and observation variables (i.e. kinematic_state, steering_status, etc).
• The collected dataset can be used as training dataset for learning-based controllers, including smart_mpc.

• Data collecting approach is as follows:

  • Following the trajectory using a pure pursuit control law.
  • Adding noises to the trajectory and the control command for data diversity, improving the prediction accuracy of learning model.

  • Setting the trajectory from the following types of trajectories ( [eight_course, u_shaped_return, straight_line_positive, straight_line_negative, reversal_loop_circle, along_road] ).

    • COURSE_NAME: eight_course

      

    • COURSE_NAME: u_shaped_return

      

    • COURSE_NAME: straight_line_positive or COURSE_NAME: straight_line_negative

      ( Both "straight_line_positive" and "straight_line_negative" represent straight line courses, but the direction of travel of the course is reversed.)

      

    • COURSE_NAME: reversal_loop_circle

      Drive within a circle while adding trajectories and collect data.

      

    • COURSE_NAME: along_road

      Generate trajectories along the road. This is particularly useful when drawing long straight paths along the road.

      In this course, data collection is conducted only on long straight trajectories, while constant velocity, velocity_on_curve, is maintained when driving on sections that include curves.

      The minimum length of these long straight trajectories can be specified using the parameter minimum_length_of_straight_line (These two parameters velocity_on_curve and minimum_length_of_straight_line can be configured in ./config/course_param/along_road_param.yaml).

      

How to Use

1. Launch Autoware.

   ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
   

2. Set an initial pose, see here.

3. Add the DataCollectingAreaSelectionTool and DataCollectingGoalPlugin RViz plugins by clicking the "+" icon at the top of the RViz window.
   

4. Launch control_data_collecting_tool.

   ros2 launch control_data_collecting_tool control_data_collecting_tool.launch.py map_path:=$HOME/autoware_map/sample-map-planning accel_brake_map_path:=/path/to/your/accel_brake_map_dir
   

   - If you use the along_road course, please specify the same map for map_path as the one used when launching Autoware. map_path is not necessary when using courses other than along_road.

   - If you set CONTROL_MODE to actuation_cmd or external_actuation_cmd, please specify the directory where the accel/brake maps used by your control system are located.

   - Control data collecting tool automatically records topics included in config/topics.yaml when the above command is executed. Topics will be saved in rosbag2 format in the current directory.

   - The data from /localization/kinematic_state and /localization/acceleration located in the directory (rosbag2 format) where the command is executed will be automatically loaded and reflected in the data count for these topics. (If LOAD_ROSBAG2_FILES in config/param.yaml is set to false, the data is not loaded.)

5. Add visualization in rviz:

   - /data_collecting_area - Type: Polygon - /data_collecting_trajectory_marker_array - Type: MarkerArray - /data_collecting_lookahead_marker_array - Type: MarkerArray

6. The following actions differ depending on the selected course. If you select the trajectory from [eight_course, u_shaped_return, straight_line_positive, straight_line_negative, reversal_loop_circle], please proceed to 6.1. If you select the trajectory from [along_road], please proceed to 6.2.

   - 6.1 If you choose the trajectory from [eight_course, u_shaped_return, straight_line_positive, straight_line_negative, reversal_loop_circle], select DataCollectingAreaSelectionTool plugin.

   <img src="resource/DataCollectingAreaSelection.png" width="480">
   
   Highlight the data collecting area by dragging the mouse over it.
   
   <img src="resource/select_area.gif" width="480">
   
   > [!NOTE]
   > You cannot change the data collecting area while driving.
   

   - 6.2 If you choose the trajectory from [along_road], select DataCollectingGoalPose plugin.

     <img src="resource/DataCollectingGoalPose.png" width="480">
   
   By setting the pose of the goal point, a trajectory is generated on the map.
   
     <img src="resource/set_trajectory_along_road.gif" width="480">
   
   As soon as the trajectory is generated, the plot with the map and trajectory drawn on it will be created (please see the following picture).
   In the sections labeled `velocity = const (velocity_on_curve)` in the legend, the vehicle travels at a constant velocity of `velocity_on_curve`. In the sections labeled `Data collection is conducted`, data collection is performed.
   
     <img src="resource/along_load_plot.png" width="480">
   
   > [!NOTE]
   > You cannot change the goal pose while driving.
   > In cases where course generation fails, which can happen under certain conditions, please reposition the vehicle or redraw the goal pose.
   

7. The following actions differ depending on the CONTROL_MODE. If you select the control mode from [ acceleration_cmd], please proceed to 7.1. If you select the control mode from [actuation_cmd], please proceed to 7.2. If you select the control mode from [external_acceleration_cmd, external_actuation_cmd], please proceed to 7.3.

   - 7.1 If you choose the control mode from [ acceleration_cmd], click the LOCAL button in AutowareStatePanel.

     <img src="resource/push_LOCAL.png" width="480">
   
     Then, data collecting starts.
   
     <img src="resource/push_LOCAL.gif" width="480">
   
     You can monitor the data collection status in real-time through the window that pops up when this node is launched.
     (From top to bottom: the speed-acceleration phase diagram, the speed-acceleration heatmap, the speed-steering angle heatmap, the speed-steer rate heatmap, and the speed-jerk heatmap.)
   
     <img src="resource/data_collection_status.png" width="480">
   
     For the speed-acceleration heatmap, speed-steering angle heatmap, and speed-steer rate heatmap, the collection range can be specified by the masks located in the folder `config/masks/MASK_NAME` where `MASK_NAME` is a parameter specifying mask name (Please also see `config/common_param.yaml`).
     The specified heatmap cells are designed to change from blue to green once a certain amount of data (`VEL_ACC_THRESHOLD`, `VEL_STEER_THRESHOLD`, `VEL_ABS_STEER_RATE_THRESHOLD` ) is collected. It is recommended to collect data until as many cells as possible turn green.
   

   - 7.2 If you choose the control mode from [actuation_cmd], click the LOCAL button in the AutowareStatePanel as described in Section 7.1. > [NOTE] > At this time, the control mode actuation_cmd is only implemented in the course reversal_loop_circle and cannot be used in other courses.

   This mode allows you to collect data on various accel and brake pedal inputs. To monitor the data collection status of accel/brake input, please use the functionality of [autoware_accel_brake_map_calibrator](https://github.com/autowarefoundation/autoware.universe/blob/main/vehicle/autoware_accel_brake_map_calibrator/README.md).
   

   - 7.3 In the case you choose the control mode from [external_acceleration_cmd, external_actuation_cmd].

   - `external_acceleration_cmd`
   
     This mode enables the collection of constant acceleration data for both positive and negative acceleration scenarios.
   
     - Positive Acceleration Data Collection
   
       a. Start the Tool by using the following command
   
         ```bash
         ros2 run control_data_collecting_tool data_collecting_acceleration_cmd.py
         ```
   
       b. Confirm Data Collection: The tool prompts you to confirm whether to proceed with positive acceleration data collection:
   
         ```bash
         Do you want to collect constant positive acceleration cmd data? (yes/no)
         ```
   
       c. Input Acceleration: When prompted, input the desired acceleration value:
   
         ```bash
         Target acceleration [0.0 ~ 2.0 m/s^2]
         ```
   
       d. Gear Change and Readiness Check: Pleas click the `LOCAL` button in `AutowareStatePanel`  as in 7.1 and the tool checks if the system is ready for the operation. You will see the following prompt:
   
         ```bash
         Ready to drive? (yes/no)
         ```
   
       f. Execution and Recording: After 3-second counting, the vehicle accelerates to `TARGET_VELOCITY` specified in the configuration file. During this process, the following message is displayed:
   
         ```bash
         Accelerate with target_acceleration m/s^2
         ```
   
         A ROS bag file records all relevant topics during this session. The filename is generated as constant_acceleration_cmd_ACCEL_TARGET_ACCELERATION_CURRENT_TIME, where TARGET_ACCELERATION is input target acceleration value, and CURRENT_TIME is the timestamp in YYYYMMDD-HHMMSS format. The ROS bag file will specifically include topics matching the regular expression:
   
         ```bash
         /control/(.*)|/vehicle/(.*)|/imu/(.*)|/sensing/imu/(.*)
         ```
   
       g. Deceleration Phase: After reaching `TARGET_VELOCITY`, the tool applies a deceleration using the TARGET_ACCELERATION_FOR_BRAKE parameter to bring the vehicle to a stop.
   
       h. Completion: Once the data is recorded and the vehicle is safely stopped, the session ends. The tool validates the recorded data.
   
     - Negative Acceleration Data Collection
   
       a. Start the Tool by using the following command
   
         ```bash
         ros2 run control_data_collecting_tool data_collecting_acceleration_cmd
         ```
   
       b. Confirm Data Collection: The tool prompts you to confirm whether to proceed with negative acceleration data collection (the following message will be displayed after answering `no` to `Do you want to collect constant positive acceleration cmd data? (yes/no)` in Positive Acceleration Data Collection):
   
         ```bash
         Do you want to collect constant negative acceleration cmd data? (yes/no)
         ```
   
       c. Input Acceleration: When prompted, input the desired acceleration value:
   
         ```bash
         Target acceleration [-5.0 ~ 0.0 m/s^2]
         ```
   
       d. Gear Change and Readiness Check: Pleas click the `LOCAL` button in `AutowareStatePanel` as in 7.1 and the tool checks if the system is ready for the operation. You will see the following prompt:
   
         ```bash
         Ready to drive? (yes/no)
         ```
   
       e. Acceleration Phase: After 3-second counting, the vehicle accelerates to the `TARGET_VELOCITY` with TARGET_ACCELERATION_FOR_DRIVE before braking.
   
       f. Braking and Recording: Once `TARGET_VELOCITY` is achieved, the tool applies the braking command. During this process, you will see:
   
         ```bash
         Accelerate with target_acceleration m/s^2
         ```
   
         A ROS bag file records all relevant topics during this session. The filename is generated as constant_acceleration_cmd_BRAKE_TARGET_ACCELERATION_CURRENT_TIME, where TARGET_ACCELERATION is input target acceleration value, and CURRENT_TIME is the timestamp in YYYYMMDD-HHMMSS format. The ROS bag file will specifically include topics matching the regular expression:
   
         ```bash
         /control/(.*)|/vehicle/(.*)|/imu/(.*)|/sensing/imu/(.*)
         ```
   
       g. Completion: Once the data is recorded and the vehicle is safely stopped, the session ends. The tool validates the recorded data.
   
   - `external_actuation_cmd`
   
     This mode enables the collection of constant accel/brake pedal input data.
   
     - Accel Pedal Data Collection
   
       a. Start the tool by using the following command
   
         ```bash
         ros2 run control_data_collecting_tool data_collecting_actuation_cmd
         ```
   
       b. Confirm Data Collection: The tool prompts you to confirm whether to proceed with positive acceleration data collection:
   
         ```bash
         Do you want to accel pedal input data? (yes/no)
         ```
   
       c. Input Accel Pedal input: When prompted, input the desired accel pedal input value:
   
         ```bash
         Target accel pedal input [0.0 ~ 0.5 ]
         ```
   
       d. Gear Change and Readiness Check: Pleas click the `LOCAL` button in `AutowareStatePanel`  as in 7.1 and the tool checks if the system is ready for the operation. You will see the following prompt:
   
         ```bash
         Ready to drive? (yes/no)
         ```
   
       e. Execution and Recording: After 3-second counting, the vehicle accelerates to `TARGET_VELOCITY` specified in the configuration file. During this process, the following message is displayed:
   
         ```bash
         Actuate with accel pedal input: target_accel_pedal_input
         ```
   
         A ROS bag file records all relevant topics during this session. The filename is generated as constant_actuation_cmd_ACCEL_TARGET_ACCELERATION_CURRENT_TIME, where TARGET_ACCELERATION is input target acceleration value, and CURRENT_TIME is the timestamp in YYYYMMDD-HHMMSS format. The ROS bag file will specifically include topics matching the regular expression:
   
         ```bash
         /control/(.*)|/vehicle/(.*)|/imu/(.*)|/sensing/imu/(.*)
         ```
   
       f. Deceleration Phase: After reaching `TARGET_VELOCITY`, the tool applies a deceleration using the TARGET_ACTUATION_FOR_BRAKE parameter to bring the vehicle to a stop.
   
       g. Completion: Once the data is recorded and the vehicle is safely stopped, the session ends. The tool validates the recorded data.
   
     - Brake Pedal Data Collection
   
       a. Start the tool by using the following command
   
         ```bash
         ros2 run control_data_collecting_tool data_collecting_actuation_cmd
         ```
   
       b. Confirm Data Collection: The tool prompts you to confirm whether to proceed with brake pedal input data collection (the following message will be displayed after answering `no` to `Do you want to accel pedal input data? (yes/no)` in Accel Pedal Data Collection):
   
         ```bash
         Do you want to brake pedal input data? (yes/no)
         ```
   
       c. Input Brake Pedal input: When prompted, input the desired brake pedal input value:
   
         ```bash
         Target brake pedal input [0.0 ~ 0.8 ]
         ```
   
       d. Gear Change and Readiness Check: Pleas click the `LOCAL` button in `AutowareStatePanel` as in 7.1 and the tool checks if the system is ready for the operation. You will see the following prompt:
   
         ```bash
         Ready to drive? (yes/no)
         ```
   
       e. Acceleration Phase: After 3-second counting, the vehicle accelerates to the `TARGET_VELOCITY` with TARGET_ACTUATION_FOR_ACCEL before braking.
   
       f. Braking and Recording: Once `TARGET_VELOCITY` is achieved, the tool applies the braking command. During this process, you will see:
   
         ```bash
         Actuate with brake pedal input: target_brake_pedal_input
         ```
   
         A ROS bag file records all relevant topics during this session. The filename is generated as constant_actuation_cmd_ACCEL_TARGET_ACCELERATION_CURRENT_TIME, where TARGET_ACCELERATION is input target acceleration value, and CURRENT_TIME is the timestamp in YYYYMMDD-HHMMSS format. The ROS bag file will specifically include topics matching the regular expression:
   
         ```bash
         /control/(.*)|/vehicle/(.*)|/imu/(.*)|/sensing/imu/(.*)
         ```
   
       g. Completion: Once the data is recorded and the vehicle is safely stopped, the session ends. The tool validates the recorded data.
   

8. If you want to stop data collecting automatic driving, run the following command

   ros2 topic pub /data_collecting_stop_request std_msgs/msg/Bool "data: true" --once
   

   [!NOTE] When the car crosses the green boundary line, a similar stopping procedure will be automatically triggered.

9. If you want to restart data collecting automatic driving, run the following command

   ros2 topic pub /data_collecting_stop_request std_msgs/msg/Bool "data: false" --once
   

Specify data collection range

You can create an original mask to specify the data collection range for the heatmap explained in step 7 of the "How to Use" section.

1. Change the MASK_NAME parameter in config/common_param.yaml from its default value of default to any name you prefer.

2. Modify parameters such as VEL_ACC_THRESHOLD, VEL_STEER_THRESHOLD, and VEL_ABS_STEER_RATE_THRESHOLD to determine the desired amount of data for each cell in the speed-acceleration heatmap, speed-steering angle heatmap, and speed-steer rate heatmap.

3. In the scripts/masks directory, run

   python3 mask_selector.py
   

   then, matplotlib windows for selecting the collection range of the speed-acceleration heatmap, speed-steering angle heatmap, and speed-steer rate heatmap will be displayed, one for each.

   

   In these windows, you can modify the heatmaps by clicking or dragging within them. Once you've made your changes, pressing Ctrl+C in the terminal will automatically save the updated maps.

   Afterward, rebuild the control_data_collecting_tool using the following command

   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w" --symlink-install --continue-on-error --packages-up-to control_data_collecting_tool
   

   and relaunch the control_data_collecting_tool with

   ros2 launch control_data_collecting_tool control_data_collecting_tool.launch.py map_path:=$HOME/autoware_map/sample-map-planning
   

   This will allow you to see the selected mask applied.

   

Trajectory generation and data collection logic

• Data collection logic common to all courses

  In control_data_collection_tool, all courses collect velocity and acceleration data in a similar manner.

  By appropriately adjusting the target_velocity provided to the pure pursuit algorithm, speed and acceleration data are efficiently collected. Data collection consists of four phases: selection of target speed and acceleration, acceleration phase, constant speed phase, the deceleration phase. A general method for collecting speed and acceleration data is described below, though it does not strictly adhere to the outlined steps.

  1. Selection of target speed and acceleration

     In the speed-acceleration heatmap, the speed and acceleration with fewer data points are set as the target speed and acceleration, which are then defined here as target_velocity_on_section and target_acceleration_on_section.

  2. Acceleration phase The vehicle accelerates by setting target_velocity as follows until its speed exceeds target_velocity_on_section.

       # b is constant variable and sine_curve is derived from appropriate amplitude and period, defined separately
       target_velocity = current_velocity + abs(target_acceleration_on_section) / acc_kp * (b + sine_curve)
     

     current_velocity is a current velocity of vehicle and acc_kp accel command proportional gain in pure pursuit algorithm. sine_curve is a sine wave added to partially mitigate situations where the vehicle fails to achieve the target acceleration.

  3. Constant speed phase When the vehicle reaches target_velocity_on_section, target_velocity is defined as follows to allow the vehicle to run around the target speed for a certain period of time.

       # b is constant variable and sine_curve is derived from appropriate amplitude and period, defined separately
       target_velocity = target_velocity_on_section + b + sine_curve
     

  4. Deceleration phase In the deceleration phase, similar to the acceleration phase, target_velocity is defined as follows to ensure the vehicle decelerates.

       # b is constant variable and sine_curve is derived from appropriate amplitude and period, defined separately
       target_velocity = current_velocity - abs(target_acceleration_on_section) / acc_kp * (b + sine_curve)
     

     After decelerating to a sufficiently low speed, return to step i.

• Trajectory generation and data collection logic specific to reversal_loop_circle

  In the reversal_loop_circle course, sections are sequentially added to the course while collecting various data on speed, acceleration, and steering angle.

• Trajectory generation logic for reversal_loop_circle

  The reversal_loop_circle aims to generate a trajectory with the largest possible radius of curvature within a radius trajectory_radius, allowing data collection in a confined area without significantly reducing speed.

  The reversal_loop_circle is primarily generated by connecting the following three components, common tangent, circumscribing_circle and boundary as shown in the following picture.

  

  All the components listed below are available in both clockwise and counterclockwise versions. The rationale for having two versions is to ensure data collection for both right-hand drive and left-hand drive configurations.

  • common tangent

    The common tangent is generated by drawing a common tangent to two inscribed circles. In this section, a sine curve is added in the normal direction to generate a trajectory for collecting data with larger steering angles. The amplitude of the sine curve is determined based on the desired steering angle data.

    

    

  • circumscribing_circle

    The circumscribing_circle part is created by drawing the common circumscribed circle of the circles. This section is generated to achieve nearly straight movement within the outer circle while minimizing the increase in curvature.

    

    

  • boundary

    The boundary part is used to connect the common tangent and the circumscribing_circle sections.

    

    

• Velocity and steering angle data collection logic for reversal_loop_circle

  Speed and steering angle data are gathered in the common tangent section of the trajectory. The common tangent section is particularly effective for collecting steering angle data because a trajectory with minimal data is intentionally created by adding a sine wave of suitable amplitude to the curvature.

  The following two steps are taken to obtain steering angle data.

  1. Starting from the ego vehicle's current position, the system examines a segment of the trajectory ahead, covering a distance defined by look_ahead_distance, to identify the point of maximum curvature.

  2. This maximum curvature determines the steering angle the vehicle will use. The vehicle then adjusts its speed toward the speed associated with the sparsest steering angle data.

     

Parameter

Common Parameters

ROS 2 parameters which are common in all trajectories (/config/common_param.yaml):

Name	Type	Description	Default value
CONTROL_MODE	string	Control mode [acceleration_cmd, actuation_cmd, external_acceleration_cmd, external_actuation_cmd]	acceleration_cmd
LOAD_ROSBAG2_FILES	bool	Flag that determines whether to load rosbag2 data or not	true
COURSE_NAME	string	Course name [eight_course, u_shaped_return, straight_line_positive, straight_line_negative, reversal_loop_circle, along_road]	reversal_loop_circle
NUM_BINS_V	int	Number of bins of velocity in heatmap	10
NUM_BINS_STEER	int	Number of bins of steer in heatmap	20
NUM_BINS_A	int	Number of bins of acceleration in heatmap	10
NUM_BINS_ABS_STEER_RATE	int	Number of bins of absolute value of steer rate in heatmap	5
NUM_BINS_JERK	int	Number of bins of jerk in heatmap	10
NUM_BINS_ACCEL_PEDAL_INPUT	int	Number of bins of accel pedal input in heatmap	8
NUM_BINS_BRAKE_PEDAL_INPUT	int	Number of bins of brake pedal input in heatmap	16
V_MIN	double	Minimum velocity in heatmap [m/s]	0.0
V_MAX	double	Maximum velocity in heatmap [m/s]	11.5
STEER_MIN	double	Minimum steer in heatmap [rad]	-0.6
STEER_MAX	double	Maximum steer in heatmap [rad]	0.6
A_MIN	double	Minimum acceleration in heatmap [m/s^2]	-1.0
A_MAX	double	Maximum acceleration in heatmap [m/s^2]	1.0
max_lateral_accel	double	Max lateral acceleration limit [m/s^2]	2.70
ABS_STEER_RATE_MIN	double	Minimum absolute value of steer rate in heatmap [rad/s]	0.0
ABS_STEER_RATE_MAX	double	Maximum absolute value of steer rate in heatmap [rad/s]	0.3
JERK_MIN	double	Minimum jerk in heatmap [m/s^3]	-0.5
JERK_MAX	double	Maximum jerk in heatmap [m/s^3]	0.5
ACCEL_PEDAL_INPUT_MIN	double	Minimum accel pedal in heatmap	0.4
ACCEL_PEDAL_INPUT_MAX	double	Maximum accel pedal in heatmap	0.0
BRAKE_PEDAL_INPUT_MIN	double	Minimum brake pedal in heatmap	0.8
BRAKE_PEDAL_INPUT_MAX	double	Maximum brake pedal in heatmap	0.0
STEER_THRESHOLD_FOR_PEDAL_INPUT_COUNT	string	Threshold of steering angle to count pedal input data	0.2
MASK_NAME	string	Directory name of masks for data collection	default
VEL_ACC_THRESHOLD	int	Threshold of velocity-and-acc heatmap in data collection	40
VEL_STEER_THRESHOLD	int	Threshold of velocity-and-steer heatmap in data collection	20
VEL_ABS_STEER_RATE_THRESHOLD	int	Threshold of velocity-and-abs_steer_rate heatmap in data collection	20
max_lateral_accel	double	Max lateral acceleration limit [m/s^2]	2.00
lateral_error_threshold	double	Lateral error threshold where applying velocity limit [m]	1.50
yaw_error_threshold	double	Yaw error threshold where applying velocity limit [rad]	0.75
velocity_limit_by_tracking_error	double	Velocity limit applied when tracking error exceeds threshold [m/s]	1.0
mov_ave_window	int	Moving average smoothing window size	50
target_longitudinal_velocity	double	Target longitudinal velocity [m/s]	6.0
pure_pursuit_type	string	Pure pursuit type (naive or linearized steer control law )	linearized
wheel_base	double	Wheel base [m]	2.79
acc_kp	double	Accel command proportional gain	1.0
lookahead_time	double	Pure pursuit lookahead time [s]	2.0
min_lookahead	double	Pure pursuit minimum lookahead length [m]	2.0
linearized_pure_pursuit_steer_kp_param	double	Linearized pure pursuit steering P gain parameter	2.0
linearized_pure_pursuit_steer_kd_param	double	Linearized pure pursuit steering D gain parameter	2.0
stop_acc	double	Accel command for stopping data collecting driving [m/s^2]	-2.0
stop_jerk_lim	double	Jerk limit for stopping data collecting driving [m/s^3]	5.0
lon_acc_lim	double	Longitudinal acceleration limit [m/s^2]	1.5
lon_jerk_lim	double	Longitudinal jerk limit [m/s^3]	0.5
steer_lim	double	Steering angle limit [rad]	0.6
steer_rate_lim	double	Steering angle rate limit [rad/s]	0.6

The following parameters are common to all trajectories but can be defined individually for each trajectory. (/config/course_param/COURSE_NAME_param.yaml):

Name	Type	Description	Default value
COLLECTING_DATA_V_MIN	double	Minimum velocity for data collection [m/s]	0.5
COLLECTING_DATA_V_MAX	double	Maximum velocity for data collection [m/s]	8.0
COLLECTING_DATA_A_MIN	double	Minimum velocity for data collection [m/s^2]	1.0
COLLECTING_DATA_A_MAX	double	Maximum velocity for data collection [m/s^2]	-1.0
longitudinal_velocity_noise_amp	double	Target longitudinal velocity additional sine noise amplitude [m/s]	0.01
longitudinal_velocity_noise_min_period	double	Target longitudinal velocity additional sine noise minimum period [s]	5.0
longitudinal_velocity_noise_max_period	double	Target longitudinal velocity additional sine noise maximum period [s]	20.0
acc_noise_amp	double	Accel command additional sine noise amplitude [m/ss]	0.01
acc_noise_min_period	double	Accel command additional sine noise minimum period [s]	5.0
acc_noise_max_period	double	Accel command additional sine noise maximum period [s]	20.0
steer_noise_amp	double	Steer command additional sine noise amplitude [rad]	0.01
steer_noise_max_period	double	Steer command additional sine noise maximum period [s]	5.0
steer_noise_min_period	double	Steer command additional sine noise minimum period [s]	20.0

Course-Specific Parameters

Each trajectory has specific ROS 2 parameters.

• COURSE_NAME: eight_course

Name	Type	Description	Default value
velocity_on_curve	double	Constant velocity on curve [m/s]	4.5
smoothing_window	double	Width of the window for trajectory smoothing	400

• COURSE_NAME: u_shaped_return

Name	Type	Description	Default value
velocity_on_curve	double	Constant velocity on curve [m/s]	4.5

• COURSE_NAME: straight_line_positive or COURSE_NAME: straight_line_negative

Name	Type	Description	Default value
stopping_buffer_distance	double	The safety distance from end of the straight line [m]	10.0

• COURSE_NAME: reversal_loop_circle

Name	Type	Description	Default value
trajectory_radius	double	Radius of the circle where trajectories are generated [m]	35.0
enclosing_radius	double	Radius of the circle enclosing the generated trajectories [m]	40.0
look_ahead_distance	double	The distance referenced ahead of the vehicle for collecting steering angle data [m]	35.0

• COURSE_NAME: along_road

Name	Type	Description	Default value
velocity_on_curve	double	Constant velocity on curve [m/s]	3.5
stopping_buffer_distance	double	The safety distance from end of the straight line [m]	15.0
course_width	double	The width of the trajectory [m]	1.5
smoothing_window	double	Width of the window for trajectory smoothing	100
minimum_length_of_straight_line	double	The minimum length of straight line for data collection [m]	50.0
longitude	double	The longitude of the origin specified when loading the map [degree]	139.6503
latitude	double	The latitude of the origin specified when loading the map [degree]	35.6762

Parameters for data_collecting_acceleration_cmd.py and data_collecting_actuation_cmd.py

• data_collecting_acceleration_cmd.py

Name	Type	Description	Default value
TARGET_VELOCITY	double	The maximum velocity for data collection [m/s]	11.80
TARGET_ACCELERATION_FOR_DRIVE	double	Target acceleration when collecting deceleration data [m/s^2]	0.3
TARGET_ACCELERATION_FOR_BRAKE	double	Target deceleration when collecting acceleration data [m/s^2]	0.5
TARGET_JERK_FOR_DRIVE	double	The target rate of change of acceleration (jerk) for smooth driving [m/s^3]	1.5
TARGET_JERK_FOR_BRAKE	double	The target rate of change of acceleration (jerk) when braking [m/s^3]	-1.5
MIN_ACCEL	double	The minimum allowable acceleration for data collection [m/s^2]	-5.0
MAX_ACCEL	double	The maximum allowable acceleration for data collection [m/s^2]	2.0

• data_collecting_actuation_cmd.py

Name	Type	Description	Default value
TARGET_VELOCITY	double	The maximum velocity for data collection [m/s]	11.80
TARGET_ACTUATION_FOR_ACCEL	double	Target accel pedal input when collecting brake pedal input data	0.3
TARGET_ACTUATION_FOR_BRAKE	double	Target brake pedal input when collecting accel pedal input data	0.5
MAX_ACCEL_PEDAL	double	The maximum allowable accel pedal input for data collection	0.5
MIN_BRAKE_PEDAL	double	The maximum allowable brake pedal input for data collection	0.8