Feat/mppi costmap integ #23
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Signed-off-by: Autumn60 <[email protected]>
Signed-off-by: Autumn60 <[email protected]>
Autumn60
requested changes
Aug 31, 2024
aichallenge/workspace/src/aichallenge_submit/mppi_controller/config/mppi_controller.param.yaml
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aichallenge/workspace/src/aichallenge_submit/mppi_controller/mppi_controller/mppi_controller.py
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aichallenge/workspace/src/aichallenge_submit/mppi_controller/mppi_controller/cost_map_tensor.py
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aichallenge/workspace/src/aichallenge_submit/mppi_controller/mppi_controller/MPPI.py
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Autumn60
reviewed
Aug 31, 2024
aichallenge/workspace/src/aichallenge_submit/mppi_controller/mppi_controller/MPPI.py
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レビューに書き忘れましたが、CODEOWNERSファイルに、↓の行追加欲しいです。 |
…onfig/mppi_controller.param.yaml Co-authored-by: Autumn60 <[email protected]>
…ppi_controller/mppi_controller.py Co-authored-by: Autumn60 <[email protected]>
…ppi_controller/cost_map_tensor.py Co-authored-by: Autumn60 <[email protected]>
…ppi_controller/MPPI.py Co-authored-by: Autumn60 <[email protected]>
…ppi_controller/MPPI.py Co-authored-by: Autumn60 <[email protected]>
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@sitahara 一番担当が近いかと思いますので、都合がつきそうならreviewいただければと思います:pray: |
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MPPIプランナーとpure pursuitの組み合わせで動くようにしておきました。 |
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@Autumn60 指摘いただいたところもろもろ修正しました～。一応確認お願いします。 |
booars-bot bot
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Oct 19, 2024
* feat: add mpc pid (yosen param) (#1) * feat(rviz): rviz visualize (#2) * Revert "remove debug" This reverts commit 1d10963. * add multi_data_monitor * add multi_data_monitor depends * add multidatamonitor(accel brake steer) * update rviz * update readme * add control_cmd * chore: add terminator and remove eval record (#3) * feat: add section timer (#5) * save * feat: add section and lap timer for debug * feat: add section and lap timer * feat(rviz, plogjuggler): update vizualizer (#6) * add mps * set colors properly * add mpc pid multidatamonitor * chore add mpc * add measured * update rviz * add mpc plotjuggler * fix plotjuggler config * add localizer plotjuggler * multidata monitor add deg rad conversion * update plotjuggler localizer(yaw) * multidatamonitor reduce digits * chore digits multidatamonitor * chore: add bash script (#7) * chore: del sensor noise (#8) * feat: parameterized cov (#9) * feat: add mpc pid from awsim stable autoware (#10) * feat: add rap time launch and visualize (#11) * feat: add gnss frame id changer (#12) * frame_id変換のためのノード追加 * fix: pose_cov_transformer.cpp pose_positionの計算の修正を行いました --------- Co-authored-by: Tom Sawada <[email protected]> * feat: add path_to_trajectory (#4) * wip * feat * feat * wip * wip * wip * Delete aichallenge/result-details.json * fix: run_simulator.bash パスについて、AWSIM_GPUからAWSIMに戻しました --------- Co-authored-by: knorrrr <[email protected]> Co-authored-by: Tom Sawada <[email protected]> * fix thread and add parameter * fix culclation bug * fix pose cov to pose * feat: add vehicle state culculator (#14) * Fix/dockerfile (#15) * fix:Dockerfile * fix:Dockerfile2 * fix: Dockerfile --------- Co-authored-by: toki-1441 <[email protected]> * Fix/autoware.bash (#16) * fix:Dockerfile * fix:Dockerfile2 * fix: Dockerfile * fix:reference.launch.xml --------- Co-authored-by: toki-1441 <[email protected]> * change custom_msgs to csv_path_changer_msg (#17) * feat: add section timer with diffrence between best and current lap (#19) * feat: replay rosbag (#20) * cp reference * cp reference * separate rosbag and simreal * launch branch is_rosbag * add rosbag and launch script * fix launch args(effects pose timestamp, resulting ekf error) * path chagne * add separate rosbag * add separate rosbag * update localizer plotjuggler * plotjuggler add linear vel * update lozalizer pltjuggler * del unnecessary launch(planning) * diable planning when is_rosbag * add trajectory editor (#23) * /localization/kinematic_stateのframe_idをmapからbase_linkに変換する (#24) * feat: add imu raw frame id changer * add sensor_msg depends * feat: add true gps module and edit reference launch (#27) * feat: add true gps module and edit reference launch * Update aichallenge/workspace/src/aichallenge_submit/gps_module/src/true_gps_module.cpp --------- Co-authored-by: knorrrr <[email protected]> * fix: weaving speed (#30) * feat: pose transformer add gnss (#26) * publish gnss pose * update plotjuggler * update plt * update plotjuggler * add comment out * update plotjuggler * chore change rosbag filename * chore: add reference launch ekf parameter (#28) * doc: change README for error handling (#33) * chore: change run_replay_rosbag_autoware.sh (#32) * add reference launch ekf parameter (#31) * feat: edit initial value of best time, inf to 999.9 (#34) * feat: use original gnss (#36) * update pose transformer * update reference * fix launch error * fix(gps_module)pose to posestamped * update reference launch * use gnss original covariance * update plotjuggler * can change gnss cov * parameterized gnss module cov * update rviz * update gpss param * publish original pose when interface rosbag * add sensor data covariance monitor (#37) * update editor * feat: command line * fix: 権限付与 * feat: edit and add Arata`s dicripttion of MPC param (#40) * feat: rap time difference from best time (#41) * ベストタイムとの差分の表示を追加 * update digits all 2 --------- Co-authored-by: knorrrr <[email protected]> * feat: add pid mpc prefix (#29) * ref: change param (pid) * ref: add coment out * ref: params * fix: yaml * fix merge --------- Co-authored-by: knorrrr <[email protected]> * fix: run csv_editor node (#35) * fix: calc gps orientation (#38) * refactor * fix * separate host ecu launch * add vehicle plotjuggler * doc: Update README.md (#42) * init param controller * add cmd * fix crush problem * wip does not load env var before zenoh * set env var * appky precommit * remove duplicate in dockerfile * add host network setting * revert: delete host network setting Signed-off-by: Masahiro Kubota <[email protected]> * style: fix line breaks Signed-off-by: Masahiro Kubota <[email protected]> --------- Signed-off-by: Masahiro Kubota <[email protected]> Co-authored-by: yusuke-y819 <[email protected]> Co-authored-by: Arata-Stu <[email protected]> Co-authored-by: hamadayo <[email protected]> Co-authored-by: Tom Sawada <[email protected]> Co-authored-by: hayato-hayashi <[email protected]> Co-authored-by: toki-1441 <[email protected]> Co-authored-by: toki-1441 <[email protected]> Co-authored-by: hamadayo <[email protected]> Co-authored-by: toki-1441 <[email protected]> Co-authored-by: Masahiro Kubota <[email protected]>
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MPPI plannerを実装しました
CPU版で動作を確認しています