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TorBorve/mpc_local_planner

How to solve the poly problem?

version:[archive-sem23] I annotated it: add_compile_definitions(LINEAR_POLY_FIT) But I found that sometimes it shakes: Image Image Image This has a significant impact inside the actual car, How ...

• chan-yuu
·
• 12
·
• Opened 
  on Jan 19
·
• #16

TorBorve/mpc_local_planner

How to Stop Planning in path_tracking_mode

I hope it doesn t plan at the finish point: 2024-09-29 18-59-19 的屏幕截图 (in path_tracking mode) The car will continue to move forward: 2024-09-29 19-02-01 的屏幕截图 How should I modify it?Please give me some ...

• chan-yuu
·
• 2
·
• Opened 
  on Sep 29, 2024
·
• #15

TorBorve/mpc_local_planner

I want to know how to print some control effects.

I want to know how to print some control effects, such as cte, epsi, etc.

• chan-yuu
·
• 10
·
• Opened 
  on Sep 18, 2024
·
• #14

TorBorve/mpc_local_planner

Where is the part about building the cost function and what kind of cost function is designed?

As shown in the title. Looking forward to your answer.

• chan-yuu
·
• 2
·
• Opened 
  on Sep 17, 2024
·
• #13

TorBorve/mpc_local_planner

How to post Twist topic on a real car?

It s data structure is: Header header uint32 seq time stamp string frame_id Twist twist Vector3 linear float64 x float64 y float64 z Vector3 angular float64 x float64 y ...

• chan-yuu
·
• 1
·
• Opened 
  on Sep 12, 2024
·
• #12

TorBorve/mpc_local_planner

how about rear wheel steering?

I changed this code: 1. urdf: from !-- xacro:rear_wheel name= rl x= ${-half_wheelbase} y= ${half_rear_track_width} z= 0 flip= 1 / xacro:rear_wheel name= rr x= ${-half_wheelbase} y= ${-half_rear_track_width} ...

• chan-yuu
·
• 7
·
• Opened 
  on Sep 11, 2024
·
• #11

TorBorve/mpc_local_planner

how to test this MPC?

image I m using the noetic version, how do I give him the data? image

• chan-yuu
·
• 10
·
• Opened 
  on Sep 6, 2024
·
• #10

TorBorve/mpc_local_planner

Fix pragmas, remove c style header guards

• TorBorve
·
• Opened 
  on Sep 15, 2023
·
• #8

TorBorve/mpc_local_planner

Use Twist or Odom

Choose between using twist and odom topics

• TorBorve
·
• 18
·
• Opened 
  on Sep 15, 2023
·
• #7

TorBorve/mpc_local_planner

use range instead of min/max

use range for params like throttle_min and throttle_max

• TorBorve
·
• Opened 
  on Sep 15, 2023
·
• #6

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