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Feat/mppi costmap integ #23

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Sep 1, 2024
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24 changes: 23 additions & 1 deletion .cspell.json
Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,28 @@
"wpedantic",
"xacro",
"xyzrpy",
"zcvf"
"zcvf",
"mppi",
"Qdin",
"Kohei",
"MPPI",
"Savitzky",
"satitzky",
"Golay",
"Vandermonde",
"michikuni",
"eguchi",
"vander",
"pinv",
"dtheta",
"cind",
"dind",
"ncourse",
"argmin",
"reparameting",
"tempature",
"rsample",
"coeffs",
"softplus"
]
}
1 change: 1 addition & 0 deletions .github/CODEOWNERS
Validating CODEOWNERS rules …
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Expand Up @@ -12,3 +12,4 @@ aichallenge/workspace/src/aichallenge_submit/racing_kart_description/** @Autumn6
aichallenge/workspace/src/aichallenge_submit/racing_kart_sensor_kit_description/** @booars/aic2024-developers
aichallenge/workspace/src/aichallenge_submit/simple_pure_pursuit/** @sitahara
aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/** @booars/aic2024-developers
aichallenge/workspace/src/aichallenge_submit/mppi_controller/** @tamago117
Empty file modified aichallenge/pkill_all.sh
100644 → 100755
Empty file.
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Expand Up @@ -15,4 +15,4 @@
predicted_object_layer:
type: "predicted_object"
predicted_objects_topic: "/perception/object_recognition/objects"
distance_threshold: 1.0
distance_threshold: 1.2
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Expand Up @@ -5,12 +5,13 @@
<node pkg="simple_pure_pursuit" exec="simple_pure_pursuit" name="simple_pure_pursuit_node" output="screen">
<param name="use_external_target_vel" value="true"/>
<param name="external_target_vel" value="8.0"/>
<param name="lookahead_gain" value="0.3"/>
<param name="lookahead_min_distance" value="4.0"/>
<param name="lookahead_gain" value="0.4"/>
<param name="lookahead_min_distance" value="3.0"/>
<param name="speed_proportional_gain" value="1.0"/>

<remap from="input/kinematics" to="/localization/kinematic_state"/>
<remap from="input/trajectory" to="/planning/scenario_planning/trajectory"/>
<!-- <remap from="input/trajectory" to="/planning/scenario_planning/trajectory"/> -->
<remap from="input/trajectory" to="/planning/output/mppi_planned_path"/>
<remap from="output/control_cmd" to="/control/command/control_cmd"/>
</node>
</group>
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Expand Up @@ -111,5 +111,18 @@
<!-- <arg name="costmap_topic" value="~/costmap"/> -->
</include>
</group>

<!-- Local Planning -->
<node pkg="mppi_controller" exec="mppi_controller_node" name="mppi_controller_node" output="screen">
<param from="$(find-pkg-share mppi_controller)/config/mppi_controller.param.yaml"/>
<remap from="input/kinematics" to="/localization/kinematic_state"/>
<remap from="input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
<!-- cost map -->
<remap from="input/costmap" to="/planning/costmap/costmap_generator/costmap"/>
<remap from="output/control_cmd" to="output/mppi_control_cmd"/>
<remap from="output/planned_path" to="output/mppi_planned_path"/>

</node>

</group>
</launch>
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@@ -0,0 +1 @@
*.pyc
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@@ -0,0 +1,26 @@
/**:
ros__parameters:
# mppi
horizon : 25
num_samples : 3000
u_min : [-2.0, -0.25] # accel(m/s2), steer angle(rad)
u_max : [2.0, 0.25]
sigmas : [0.5, 0.15] # sample range
lambda : 1.0
auto_lambda : false
# reference path
DL : 0.1
lookahead_distance : 0.3
reference_path_interval : 0.85
# cost weights
Qc : 20.0
Ql : 1.0
Qv : 2.0
Qo : 10000.0
Qin : 0.01
Qdin : 0.5
# model param
delta_t : 0.1
vehicle_L : 1.0
V_MAX : 8.0

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