Tweak wallfollowing parameters

marian42 commented 5 years ago

The wallfollowing works in general, but the parameters need tweaking.

Find out if following a single wall or following both walls performs better. One of them should be removed.
Test how fast the car can go (tweak maximum speed)
Tweak parameters, including PID values, angles, distances
Think about improvements to the algorithm
Improve the LIDAR sampling strategy. Currently, for each angle only one LIDAR point is considered. Instead, we could read multiple points and use the minimum or average.

marian42 commented 5 years ago

Speed and PID values where changed in 6515e01b1faa1770321d6f59c44c7d703d1c5188 and fb3fb1d89d137c748c7bb43c832b20eab7f7258f

marian42 commented 5 years ago

Some of these were implemented in the second wallfollowing node.

Autonomous-Racing-PG / ar-tu-do