How to realize simulation about mpc_local_planner HOT 2 CLOSED

This is on my todo list. This repository is a mirror of a gitlab repository for the student organization DNV Fuel Fighter. The simulator is another repo on gitlab. However this is currently a bit of a mess. I'm working towards cleaning this up and making a github repo for it.

In the meantime I can describe how to do it yourself. The simulator used is Gazebo and the audibot repo is used to simulate the car. The modifications done are as follows:

• Publishes current steering angle. You could also skip this and just publish "0.0" on the desired topic. However, this will effect performance.
• control system for audibot. I have implemented at control system for the car that takes in a cmd_vel message and figures out what the steering angle and throttle should be. I made this using a PID controller and the bicycle model. It is also possible to publish the steering angle directly from the mpc and publish a constant value for throttle for example.

The goal is that the mpc should work for several simulators and most importantly in the real world.

from mpc_local_planner.

Hi again @yinflight!
I have now merged the necessary chages of audibot into the orginal repo. So that is compatible with what data the MPC requires.

Follow these steps if you want to test the mpc.
1. Clone audibot

git clone https://github.com/robustify/audibot.git

2. Install mpc
Install the mpc as described in the readme.

3. Changed params
change actual_steering_topic to "/steering_state" and map_frame to "world" in params/mpc.yaml

4. Run
First run audibot using

roslaunch audibot_gazebo single_vehicle_example.launch

In another terminal you can run the mpc

roslaunch mpc_local_planner mpc.launch

Doing this the car should drive autonomously in a loop. Let me know if you have any issues.

from mpc_local_planner.