From 368c1713cf57ab25462d7b34edb6c052acd30278 Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Thu, 14 Nov 2024 17:38:58 +0900 Subject: [PATCH] update docs Signed-off-by: kosuke55 --- control/autoware_trajectory_follower_node/README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/control/autoware_trajectory_follower_node/README.md b/control/autoware_trajectory_follower_node/README.md index aa692c323f6d0..ac05dd67f18e6 100644 --- a/control/autoware_trajectory_follower_node/README.md +++ b/control/autoware_trajectory_follower_node/README.md @@ -136,6 +136,7 @@ Giving the longitudinal controller information about steer convergence allows it #### Outputs - `autoware_control_msgs/Control`: message containing both lateral and longitudinal commands. +- `autoware_control_msgs/ControlHorizon`: message containing both lateral and longitudinal horizon commands. this is NOT published by default. by using this, the performance of vehicle control may be improved, and by turning the default on, it can be used as an experimental topic. #### Parameter @@ -146,6 +147,7 @@ Giving the longitudinal controller information about steer convergence allows it 2. The last received commands are not older than defined by `timeout_thr_sec`. - `lateral_controller_mode`: `mpc` or `pure_pursuit` - (currently there is only `PID` for longitudinal controller) +- `enable_control_cmd_horizon_pub`: publish `ControlHorizon` or not (default: false) ## Debugging