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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | MIT |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | F1Tenth Simulation Code: Platooning, Computer Vision, Reinforcement Learning, Path Planning |
| Checkout URI | https://github.com/pmusau17/platooning-f1tenth.git |
| VCS Type | git |
| VCS Version | noetic-port |
| Last Updated | 2022-05-20 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
mpc
Additional Links
No additional links.
Maintainers
- Patrick Musau
Authors
No additional authors.
MPC
Documentation loading…(I promise)
Installation of MPC Libraries
`` $ source setup.sh
install HSL. Find the instructions in the aforementioned link, you will need to get a license to download the software. ``
Running the mpc setup:
- mpc_model:=0 (MPC with Follow the Gap)
- mpc_model:=1 (MPC with Pure Pursuit)
- mpc_model:=2 (MPC with Pure Pursuit Nonlinear Model)
$ roslaunch mpc mpc.launch mpc_model:=0
Installing the reachability library
Disclaimer and Warning: Anaconda and ros noetic don’t like each other too much so for the purposes of installation, kindly comment it out for the installation. You can reactivate it afterwards.
Step 1: Clone rtreach (not in the Platooning-F1Tenth Folder):
$ git clone https://github.com/pmusau17/rtreach_f1tenth.git -b noetic-port
Step 2: Build and Source Platooning-F1Tenth
$ cd Platooning-F1Tenth && colcon build --symlink-install && source install/setup.bash
Step 3: Run the mpc launch file
$ roslaunch mpc mpc.launch
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/mpc_batch.launch
-
- world_number [default: 0]
- gui [default: true]
- mpc_model [default: 0]
- opponent_model [default: 0]
- target_model [default: 0]
- experiment_number [default: 0]
- enable_dynamic_obstacles [default: false]
- enable_static_obstacles [default: false]
- random_seed [default: 15]
- output [default: log]
- timeout [default: -1]
- racecar_pose [default: -x -3.5 -y -0.2 -z 0.05]
- racecar2_pose [default: -x 1.5 -y 1.0 -z 0.05]
- racecar3_pose [default: -x -1.5 -y 0.05 -z 0.05]
- racecar_pose [default: -x 0.0898 -y -0.174 -z 0.05]
- racecar2_pose [default: -x -2.68 -y 1.38 -z 0.05]
- racecar3_pose [default: -x -7.63 -y 3.61 -z 0.05]
- racecar_pose [default: -x 4.03 -y 0.324 -z 0.05]
- racecar2_pose [default: -x -0.219 -y 0.376 -z 0.05]
- racecar3_pose [default: -x -3.5 -y -0.711 -z 0.05]
- csv_filename [default: track_porto_26780.csv]
- csv_filename [default: racecar_walker_28998.csv]
- csv_filename [default: track_barca_47396.csv]
- map_file [default: $(find race)/maps/porto_track.yaml]
- use_sim_time [default: true]
- verbose [default: false]
- box_display_limit [default: 100]
- reach_time [default: 0.5]
- wall_time [default: 1.0]
- number_of_cars [default: 2]
- car_name [default: racecar2]
- rviz_disp [default: multiagent_reach.rviz]
- launch/mpc.launch
-
- world_number [default: 0]
- gui [default: true]
- mpc_model [default: 0]
- enable_dynamic_obstacles [default: false]
- enable_static_obstacles [default: false]
- output [default: screen]
- racecar_pose [default: -x -3.5 -y -0.2 -z 0.05]
- racecar2_pose [default: -x 1.5 -y 1.0 -z 0.05]
- racecar3_pose [default: -x -1.5 -y 0.05 -z 0.05]
- racecar_pose [default: -x 0.0898 -y -0.174 -z 0.05]
- racecar2_pose [default: -x -2.68 -y 1.38 -z 0.05]
- racecar3_pose [default: -x -7.63 -y 3.61 -z 0.05]
- racecar_pose [default: -x 4.03 -y 0.324 -z 0.05]
- racecar2_pose [default: -x -0.219 -y 0.376 -z 0.05]
- racecar3_pose [default: -x -3.5 -y -0.711 -z 0.05]
- csv_filename [default: track_porto_26780.csv]
- csv_filename [default: racecar_walker_28998.csv]
- csv_filename [default: track_barca_47396.csv]
- map_file [default: $(find race)/maps/porto_track.yaml]
- random_seed [default: 1516]
- use_sim_time [default: true]
- verbose [default: false]
- box_display_limit [default: 100]
- reach_time [default: 0.5]
- wall_time [default: 1.0]
- number_of_cars [default: 2]
- car_name [default: racecar2]
- rviz_disp [default: multiagent_reach.rviz]
- launch/dynamic_boxes_launch.launch
-
- box1_name [default: floating_box]
- box1_x_init [default: -5.5]
- box1_y_init [default: 0.2]
- box1_x_set [default: -5.91]
- box1_y_set [default: -2.51]
- box1_pose [default: -x $(arg box1_x_init) -y $(arg box1_y_init) -z 0.05]
- box2_name [default: floating_box2]
- box2_x_init [default: -6.65]
- box2_y_init [default: 4.49]
- box2_x_set [default: -9.25]
- box2_y_set [default: 6.58]
- box2_pose [default: -x $(arg box2_x_init) -y $(arg box2_y_init) -z 0.05]
- box3_name [default: floating_box3]
- box3_x_init [default: 1.44]
- box3_y_init [default: 7.44]
- box3_x_set [default: 1.3]
- box3_y_set [default: 5.28]
- box3_pose [default: -x $(arg box3_x_init) -y $(arg box3_y_init) -z 0.05]
- box4_name [default: floating_box4]
- box4_x_init [default: 10.8]
- box4_y_init [default: 0.437]
- box4_x_set [default: 11.0]
- box4_y_set [default: -3.12]
- box4_pose [default: -x $(arg box4_x_init) -y $(arg box4_y_init) -z 0.05]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mpc at Robotics Stack Exchange
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