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PlotJuggler: Tuning layout (#22902)

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* PlotJuggler layout for lateral and longitudinal tuning

* update README and tuning PR template
old-commit-hash: 65d1b51476
This commit is contained in:
qadmus
2021-11-13 23:16:42 -08:00
committed by GitHub
parent 1aed0bb5ba
commit 229d987f10
5 changed files with 304 additions and 10 deletions
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15
.github/PULL_REQUEST_TEMPLATE/tuning.md vendored
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@@ -8,15 +8,16 @@ assignees: ''
**Description**
<!-- A description of what is wrong with the current tuning and how the PR adresses this. -->
<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
**Verification**
<!-- To verify a longitudinal tuning PRs we need the plotjuggler plots of several scenarios of the desired speed/accel (first value from longitudinalPlan message)
vs measured speed/accel (from carState message), we need these plots for before and after the changes in the PR. For lateral tuning PRs we need plots of the
desired steeringAngle vs actual steeringAngle. These scenarios don't need to be exactly followed, but do need to be broadly captured.
<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
Use the PlotJuggler tuning layout to compare planned versus actual behavior.
For longitudinal we need plots of before and after for all of the following scenarios:
Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
Longitudinal:
* Maintaining speed at 25, 40, 65mph
* Driving up and down hills
* Accelerating from a stop
@@ -24,10 +25,8 @@ For longitudinal we need plots of before and after for all of the following scen
* Following large changes in set speed
* Coming to a stop behind a lead car
For lateral we need plots of before and after for all of the following scenarios:
Lateral:
* Straight driving at ~25, ~45 and ~65mph
* Turns driving at ~25, ~45 and ~65mph
-->