Merge pull request #2 from tud-amr/dev

Add SH-MPC code to mpc_planner

.github/workflows/dev.yml

@@ -21,13 +21,13 @@ jobs:
       - name: Disable NVidia runtime in the container
         run: sed -i '/"--runtime=nvidia",/d' .devcontainer/devcontainer.json
 
-      - name: Checkout private planner
-        uses: actions/checkout@v3
-        with:
-          repository: oscardegroot/mpc_planner
-          token: ${{ secrets.CI_REPO_PAT }}
-          path: src/mpc_planner
-          ref: dev
+      # - name: Checkout private planner
+      #   uses: actions/checkout@v3
+      #   with:
+      #     repository: oscardegroot/mpc_planner
+      #     token: ${{ secrets.CI_REPO_PAT }}
+      #     path: src/mpc_planner
+      #     ref: dev
 
       - name: Build dev container task
         uses: devcontainers/[email protected]

.vscode/tasks.json

@@ -144,7 +144,7 @@
         },
         {
             "label": "Jackal: Run Real-World Jackal",
-            "command": "source devel/setup.bash && source fix_console.sh && roslaunch mpc_planner_jackal ros1_jackal.launch",
+            "command": "source ./connect_to_jackal.sh && source devel/setup.bash && source fix_console.sh && roslaunch mpc_planner_jackal ros1_jackal.launch",
             "type": "shell",
             "group": {
                 "kind": "build",

connect_to_jackal.sh

@@ -1,4 +1,10 @@
 source devel/setup.bash
-alias connect_to_jackal3="export ROS_MASTER_URI=http://cpr-j100-0594:11311;export ROS_IP=192.168.0.25"
-alias connect_to_jackal1="export ROS_MASTER_URI=http://cpr-j100-0114:11311;export ROS_IP=192.168.0.128"
-connect_to_jackal3
+
+# Jackal 1
+# export ROS_MASTER_URI=http://cpr-j100-0114:11311
+
+# Jackal 3
+export ROS_MASTER_URI=http://cpr-j100-0594:11311
+
+# Your IP (check with `ip a`)
+export ROS_IP=192.168.3.56

planner.repos

@@ -2,15 +2,15 @@ repositories:
     mpc_planner:
         type: git
         url: https://github.com/tud-amr/mpc_planner.git
-        version: 767c881cc285dec2ed1441a31d4fc33adc32c160
+        version: cc71e45fcd8263b1a43d2af500c3696860b4b8a5
     guidance_planner:
         type: git
         url: https://github.com/tud-amr/guidance_planner.git
-        version: 463d84765b3641e8ccdd066b92f7b73d63527357
+        version: 2c4188371e18e2fb3d083e0867b5e4d537a42860
     ros_tools:
         type: git
         url: https://github.com/oscardegroot/ros_tools.git
-        version: 419b458a04432ff3b272e6479f259fdb58a1c94c
+        version: f2ff45830961db8d3d813ee4769f27eea708e989
     pedestrian_simulator:
         type: git
         url: https://github.com/oscardegroot/pedestrian_simulator.git
@@ -34,4 +34,8 @@ repositories:
     decomp_util:
         type: git
         url: https://github.com/oscardegroot/DecompUtil.git
-        version: b4211a130ada47d458105a3a29559d3f6caa52c4
+        version: b4211a130ada47d458105a3a29559d3f6caa52c4
+    scenario_module:
+        type: git
+        url: https://github.com/oscardegroot/scenario_module.git
+        version: c11addbb7239752d585beb181e8f9197893c6c53