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Hypha-ROS / hypharos_minicar

1/20 MiniCar: An ackermann based rover for MPC and Pure-Pursuit controller
https://hypharosworkshop.wordpress.com/
Apache License 2.0
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Problem about MPC parameters #10

Closed Octalivia closed 5 years ago

Octalivia commented 5 years ago

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

haochihlin commented 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