Closed Octalivia closed 5 years ago
Hi @Octalivia ,
Sorry for the late reply. About the params for MPC tracking, if recall correctly, all of params could be defined via ROS params:
https://github.com/Hypha-ROS/hypharos_minicar/blob/master/launch/params/mpc/mpc_params.yaml.
If you want to find some internal states or modify the model, you could look into the MPC implementation source codes:
https://github.com/Hypha-ROS/hypharos_minicar/blob/master/src/MPC_Node.cpp
I transplanted the MPC in this program to my program, but it cannot follow the path well. Is there a list of parameters available? I have tried the one in the param folder but it left much to be desired