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vox_nav_control package from vox_nav repo

archived_vox_nav_cartographer archived_vox_nav_drake_ros archived_vox_nav_grid_map archived_vox_nav_openvslam vox_nav_bringup vox_nav_control vox_nav_map_server vox_nav_misc vox_nav_msgs vox_nav_navigators vox_nav_planning vox_nav_utilities vox_nav_waypoint_nav_clients

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Package Summary

Tags No category tags.
Version 0.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nmburobotics/vox_nav.git
VCS Type git
VCS Version humble
Last Updated 2024-06-23
Dev Status UNMAINTAINED
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

TODO

Additional Links

No additional links.

Maintainers

  • Fetullah Atas

Authors

No additional authors.
vox_nav_control/README.md

Control server

This server brings up a plugin of your choice live. The controller server is implemnted with ROS2 actions. Following parameters are configurable;

vox_nav_controller_server_rclcpp_node:
   ros__parameters:
      controller_plugin: "MPCControllerAcadoROS"                              # other options: MPCControllerCasadiROS, MPCControllerAcadoROS, LyapunocController
      controller_frequency: 200.0                                             # acado is really fast(+1000.0Hz) casadi can deal up to just 20.0Hz maybe
      goal_tolerance_distance: 0.2                                            # in meters, once smaller than this one controller tries to minimize orientation error
      goal_tolerance_orientation: 0.1                                         # in radians, once smaller than this value,controller exits with success
      transform_timeout: 0.01                                                 # seconds, this is used to regulate lookUpTransfrom calls from tf2
      global_plan_look_ahead_distance: 3.5                                    # look this amount of meters from current robot pose to remaining global path

Available controller plugins;

  • MPCControllerCasadiROS
  • MPCControllerAcadoROS
  • LyapunocController

MPCControllerCasadiROS

Implemented with casadi non-linear optimization framework.

YAML parameters for this plugin;

MPCControllerCasadiROS:
   plugin: "mpc_controller_casadi::MPCControllerCasadiROS"
   N: 8                                                                 # timesteps in MPC Horizon
   DT: 0.1                                                              # discretization time between timesteps(s)
   L_F: 0.66                                                            # distance from CoG to front axle(m)
   L_R: 0.66                                                            # distance from CoG to rear axle(m)
   V_MIN: -1.5                                                          # min / max velocity constraint(m / s)
   V_MAX: 1.5
   A_MIN: -1.5                                                          # min / max acceleration constraint(m / s ^ 2)
   A_MAX: 1.5
   DF_MIN: -0.4                                                         # min / max front steer angle constraint(rad)
   DF_MAX: 0.4
   A_DOT_MIN: -1.0                                                      # min / max jerk constraint(m / s ^ 3)
   A_DOT_MAX: 1.0
   DF_DOT_MIN: -0.8                                                     # min / max front steer angle rate constraint(rad / s)
   DF_DOT_MAX: 0.8
   Q: [10.0, 10.0, 0.1, 0.1]                                            # weights on x, y, psi, and v.
   R: [10.0, 100.0]                                                     # weights on jerk and slew rate(steering angle derivative)
   debug_mode: False                                                    # enable/disable debug messages

MPCControllerAcadoROS

If there has not been already, you need to generate the Acado code with;

ros2 launch vox_nav_control acado_code_generation.launch.py

Pleaase NOTE that the generated code for Acado must be under vox_nav/vox_nav_control/include/vox_nav_control/mpc_controller_acado/auto_gen

Before executing above command, make sure to configure the parameters of MPCControllerAcadoROS, the code will be generated according to selected parameters.

If you delete vox_nav/vox_nav_control/include/vox_nav_control/mpc_controller_acado/auto_gen for some reason, First, only build acado_code_generation with;

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DACADOS_WITH_QPOASES=ON -DACADO_CODE_IS_READY=OFF

This will only build code generation node, then execute acado_code_generation.launch.py to generate the code.

ros2 launch vox_nav_control acado_code_generation.launch.py

Then place the generated codes under vox_nav/vox_nav_control/include/vox_nav_control/mpc_controller_acado/auto_gen.

Finally build the MPCControllerAcadoROS with -DACADO_CODE_IS_READY=ON;

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DACADOS_WITH_QPOASES=ON -DACADO_CODE_IS_READY=ON

YAML parameters for this plugin;

MPCControllerAcadoROS:
   plugin: "mpc_controller_acado::MPCControllerAcadoROS"
   N: 20                                                                # timesteps in MPC Horizon
   Ni: 1
   DT: 0.1                                                              # discretization time between timesteps(s)
   L_F: 0.67                                                            # distance from CoG to front axle(m)
   L_R: 0.67                                                            # distance from CoG to rear axle(m)
   V_MIN: -1.0                                                          # min / max velocity constraint(m / s)
   V_MAX: 1.0
   A_MIN: -1.0                                                          # min / max acceleration constraint(m / s ^ 2)
   A_MAX: 1.0
   DF_MIN: -0.6                                                         # min / max front steer angle constraint(rad)
   DF_MAX: 0.6
   Q: [10.0, 10.0, 0.0, 0.0]                                            # weights on x, y, v, and psi.
   R: [10.0, 100.0]                                                     # weights on input acc and df, acceleration and steering angle
   debug_mode: False                                                    # enable/disable debug messages

LyapunocController

A controller based on Control Lyapunov Function. Details on this controller are linked in the related publication.

YAML parameters for this plugin;

LyapunovControllerROS:
   plugin: "lyapunov_controller::LyapunovControllerROS"
   V_MIN: -0.5                                                          # min / max velocity constraint(m / s)
   V_MAX: 0.5
   DF_MIN: -0.125                                                       # min / max front steer angle constraint(rad)
   DF_MAX: 0.125
   k1: -1.0                                                             # Control coefficents, see the related paper. 
   k2: 5.0
   lookahead_n_waypoints: 4                                             # Number of waypoints on the path to follow

Test

Test the controller server by sending an all zeros path with ;

ros2 action send_goal /follow_path vox_nav_msgs/action/FollowPath "{}"
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.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged vox_nav_control at Robotics Stack Exchange

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