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Low Level Controller Tuner

Low Level Tuner

The low level tuner can be found under src/ros4crs/tools/low_level_tuner. The low_level_tuner node brings up the wifi_com node and allows sending steer commands to the car. The following outlines the setup used:

  • The low_level_tuner.py script is executed, which calculates and publishes reference signals.
  • The wifi_com node sends the reference signals to the car.
  • Plotjuggler is launched to visualize the data. The topics for the reference signal and current steer angle are:
    • Reference signal: control_input/steer
    • Actual angle: telemetry/steer_state/steer_angle

The following parameters can be set:

mode: 'STEP' | 'SQUARE' | 'TRIANGLE' | 'SIN' (default: 'STEP')
freq: Frequency of the signal.
pub_freq: Sampling frequency of the signal.
steer_limit: maximum steer angle (default: 0.35)

It is adviced to keep pub_freq above 10 [Hz], as the car will automatically disconnect if no message is received within 0.2 [s].

Example application

roslaunch low_level_tuner low_level_tuner.launch mode:=STEP freq:=1 steer_limit:=0.35