feat(trajectory_follower_node): add proxima python control

Signed-off-by: kosuke55 <[email protected]>
autowarefoundation · Dec 5, 2023 · c775f62 · c775f62
1 parent d6e43f6
commit c775f62
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Showing 12 changed files with 2,638 additions and 2 deletions.
diff --git a/control/trajectory_follower_node/CMakeLists.txt b/control/trajectory_follower_node/CMakeLists.txt
@@ -27,6 +27,14 @@ rclcpp_components_register_node(${SIMPLE_TRAJECTORY_FOLLOWER_NODE}
   EXECUTABLE ${SIMPLE_TRAJECTORY_FOLLOWER_NODE}_exe
 )
 
+find_package(ament_cmake_python REQUIRED)
+ament_python_install_package(${PROJECT_NAME})
+
+install(PROGRAMS
+  scripts/pympc_trajectory_follower.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   set(TRAJECTORY_FOLLOWER_NODES_TEST test_trajectory_follower_node)
   ament_add_ros_isolated_gtest(${TRAJECTORY_FOLLOWER_NODES_TEST}

diff --git a/control/trajectory_follower_node/package.xml b/control/trajectory_follower_node/package.xml
@@ -17,17 +17,22 @@
   <author email="[email protected]">Takayuki Murooka</author>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_auto_control_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_system_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>casadi-pip</depend>
   <depend>motion_utils</depend>
   <depend>mpc_lateral_controller</depend>
   <depend>pid_longitudinal_controller</depend>
   <depend>pure_pursuit</depend>
+  <depend>python3-numba</depend>
+  <depend>python3-pytorch-pip</depend>
+  <depend>python3-scipy</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>trajectory_follower_base</depend>

diff --git a/control/trajectory_follower_node/scripts/README.md b/control/trajectory_follower_node/scripts/README.md
@@ -0,0 +1,25 @@
+# python版MPC開発README
+
+## 使用方法
+
+- ビルドする
+
+- シミュレーション全体の起動
+
+autoware
+
+```
+ros2 launch autoware_launch planning_simulator.launch.xml record:=false sensor_model:=sample_sensor_kit vehicle_model:=sample_vehicle map_path:=$HOME/autoware_map/sample-map-planning
+```
+
+pilot-auto
+
+```
+ros2 launch autoware_launch planning_simulator.launch.xml record:=false vehicle_model:=lexus sensor_model:=aip_xx1 map_path:=$HOME/autoware_map/sample-map-planning
+```
+
+- debug echo
+
+```
+ros2 topic echo /debug_mpc_X_des tier4_debug_msgs/msg/Float32MultiArrayStamped
+```