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License: MIT License
Display of my skills in optimal control for autonomous race cars
License: MIT License
even when we reset the simulation node, the car is still moving (even with 0 controls!)
Sometimes, QoS policy incompatibilities arise when using foxglove bridge. When it happens, we cannot visualize the corresponding data on foxglove studio, whether it is coming from a ros bag/mcap or live publishers.
My bests guess for the moment: if foxglove bridge creates a subscriber on a certain topic, it will (supposedly) check the QoS policies of the other subscribers and will use the same one. If the foxglove bridge is already running when we launch our nodes, it could start before the others and use wrong QoS profiles.
Relevant parts of foxglove bridge source code:
choice of the QoS profile and PR where it was introduced
have a simple controller to quickly test the simulation
add lap time computation capabilities to the simulation node. We could publish these lap times in the sim_node
's diagnostics (the last one and the best one since the last reset).
pretty self-explanatory
pretty-self explanatory
Basically, each ocp solver will be generated for one track and only one track. When we switch tracks, we have to switch controllers.
To be added:
First implementation of the principal goal of this repo: develop new fancy controllers.
For the moment, the acados ocp solver is generated for a particular track because of the splines embedded in the model. Either we find a way to provide the parameters of those splines at runtime, or we generate several controllers. Cf issue #6
In a first version, we could just add the ground truth for the cones observations.
In a second version, we could add noises to these observations and add parameters to choose from several noise models (gaussian, uniform, exponential, etc.).
cones_observations_freq: float
cones_observations_range_noise_model: string
cones_observations_bearing_noise_model: string
(in "uniform"
, "uni"
,"exponential"
,"exp"
,"normal"
, "gaussian"
)cones_observations_range_noise_param: float
(either max value for uniform (symmetric support), 1/mean for exp, std for normal)cones_observations_bearing_noise_param: float
/ihm2/cones_observations: ihm2/msg/ConesObservations
ihm2/mgs/ConesObservations
: based on the following .msg
file:
# ConesObservations
std_msgs/Header header
uint8 BLUE = 0
uint8 YELLOW = 1
uint8 SMALL_ORANGE = 2
uint8 BIG_ORANGE = 3
float64[] rho
float64[] theta
uint8[] colors
float64[] rho_uncertainty # std dev of the rho (range) measurement
float64[] theta_uncertainty # std dev of the theta (bearing) measurement
float64[] colors_confidence # confidence of the color measurement, between 0 and 1
For the moment add Gaussian noises
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