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fix(mpc): use optimization result when polish failed (#4673) #951

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Oct 17, 2023
Merged

fix(mpc): use optimization result when polish failed (#4673) #951

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10 changes: 4 additions & 6 deletions control/mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,12 +72,10 @@ bool QPSolverOSQP::solve(

// polish status: successful (1), unperformed (0), (-1) unsuccessful
int status_polish = std::get<2>(result);
if (status_polish == -1) {
RCLCPP_WARN(logger_, "osqp status_polish = %d (unsuccessful)", status_polish);
return false;
}
if (status_polish == 0) {
RCLCPP_WARN(logger_, "osqp status_polish = %d (unperformed)", status_polish);
if (status_polish == -1 || status_polish == 0) {
const auto s = (status_polish == 0) ? "Polish process is not performed in osqp."
: "Polish process failed in osqp.";
RCLCPP_INFO(logger_, "%s The required accuracy is met, but the solution can be inaccurate.", s);
return true;
}
return true;
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3 changes: 1 addition & 2 deletions control/mpc_lateral_controller/test/test_mpc.cpp
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Expand Up @@ -252,9 +252,8 @@ TEST_F(MPCTest, OsqpCalculate)
AckermannLateralCommand ctrl_cmd;
Trajectory pred_traj;
Float32MultiArrayStamped diag;
// with OSQP this function returns false despite finding correct solutions
const auto odom = makeOdometry(pose_zero, default_velocity);
EXPECT_FALSE(mpc.calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag));
EXPECT_TRUE(mpc.calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag));
EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f);
EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f);
}
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