update

Author: jizhang-cmu

src/base_autonomy/vehicle_simulator/launch/vehicle_simulator.launch

@@ -45,11 +45,11 @@ def generate_launch_description():
   declare_adjustZ = DeclareLaunchArgument('adjustZ', default_value='true', description='')
   declare_terrainRadiusZ = DeclareLaunchArgument('terrainRadiusZ', default_value='1.0', description='')
   declare_minTerrainPointNumZ = DeclareLaunchArgument('minTerrainPointNumZ', default_value='5', description='')
-  declare_smoothRateZ = DeclareLaunchArgument('smoothRateZ', default_value='0.5', description='')
+  declare_smoothRateZ = DeclareLaunchArgument('smoothRateZ', default_value='0.2', description='')
   declare_adjustIncl = DeclareLaunchArgument('adjustIncl', default_value='true', description='')
   declare_terrainRadiusIncl = DeclareLaunchArgument('terrainRadiusIncl', default_value='2.0', description='')
   declare_minTerrainPointNumIncl = DeclareLaunchArgument('minTerrainPointNumIncl', default_value='200', description='')
-  declare_smoothRateIncl = DeclareLaunchArgument('smoothRateIncl', default_value='0.5', description='')
+  declare_smoothRateIncl = DeclareLaunchArgument('smoothRateIncl', default_value='0.2', description='')
   declare_InclFittingThre = DeclareLaunchArgument('InclFittingThre', default_value='0.2', description='')
   declare_maxIncl = DeclareLaunchArgument('maxIncl', default_value='30.0', description='')
   declare_pause = DeclareLaunchArgument('pause', default_value='false', description='')

src/base_autonomy/vehicle_simulator/src/vehicleSimulator.cpp

@@ -224,9 +224,11 @@ int main(int argc, char** argv)
   nh->declare_parameter<bool>("adjustZ", adjustZ);
   nh->declare_parameter<double>("terrainRadiusZ", terrainRadiusZ);
   nh->declare_parameter<int>("minTerrainPointNumZ", minTerrainPointNumZ);
+  nh->declare_parameter<double>("smoothRateZ", smoothRateZ);
   nh->declare_parameter<bool>("adjustIncl", adjustIncl);
   nh->declare_parameter<double>("terrainRadiusIncl", terrainRadiusIncl);
   nh->declare_parameter<int>("minTerrainPointNumIncl", minTerrainPointNumIncl);
+  nh->declare_parameter<double>("smoothRateIncl", smoothRateIncl);
   nh->declare_parameter<double>("InclFittingThre", InclFittingThre);
   nh->declare_parameter<double>("maxIncl", maxIncl);
 
@@ -243,9 +245,11 @@ int main(int argc, char** argv)
   nh->get_parameter("adjustZ", adjustZ);
   nh->get_parameter("terrainRadiusZ", terrainRadiusZ);
   nh->get_parameter("minTerrainPointNumZ", minTerrainPointNumZ);
+  nh->get_parameter("smoothRateZ", smoothRateZ);
   nh->get_parameter("adjustIncl", adjustIncl);
   nh->get_parameter("terrainRadiusIncl", terrainRadiusIncl);
   nh->get_parameter("minTerrainPointNumIncl", minTerrainPointNumIncl);
+  nh->get_parameter("smoothRateIncl", smoothRateIncl);
   nh->get_parameter("InclFittingThre", InclFittingThre);
   nh->get_parameter("maxIncl", maxIncl);