This package includes ROS implementation of Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles presented in ICRA 2024.
- Ubuntu Focal 20.04 (LTS)
- ROS Noetic
Basic Instllation
# Set up your computer to accept software from packages.ros.org
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# Set up your keys
sudo apt install -y curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
# install ROS
sudo apt install -y ros-noetic-desktop-full
# Install other tools
sudo apt install python3-osrf-pycommon python3-catkin-tools# Install from get.docker.com
curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh
sudo groupadd docker
sudo usermod -aG docker $USERcd proj-svg_mppi
make setupcd proj-svg_mppi
make buildLaunch simulator in the Docker container
cd proj-svg_mppi
./script/launch_simulator.shLaunch controllers in another terminal
cd proj-svg_mppi
./script/launch_controllers.sh You can change the all MPPI parameters and settings in the yaml file
You can reproduce all simulation results in the paper by one command:
cd proj-svg_mppi/script
./eval_all.shOr, You can evaluate a fixed parameters by this command:
cd proj-svg_mppi/script
./eval.shNote: The evaluation is used asynchronous simulation using ROS. So, the results can be slightly changed even if all seeds are fixed.
@inproceedings{honda2023stein,
title={Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles},
author={Kohei Honda and Naoki Akai and Kosuke Suzuki and Mizuho Aoki and Hirotaka Hosogaya and Hiroyuki Okuda and Tatsuya Suzuki},
booktitle={IEEE International Conference on Robotics and Automation},
year={2024 (in print)},
organization={IEEE}
}
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