Optimize over speed and steering

RoboJackets / roboracing-software

ROS packages for the RoboJackets RoboRacing team.

https://robojackets.org/teams/roboracing/

MIT License

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Optimize over speed and steering #376

Closed Daniel-Martin576 closed 3 years ago

Daniel-Martin576 commented 3 years ago

Changes the planner to optimize speed and steering. Modified DIstance Map so that it can be more flexible. Changed local map to use lidar data directly.

Demo Video

I updated:

Distance Map (remove if-updating stuff, and add nonlethal layer logic)
Bicycle model
Rviz (not sure if now is better or worse)
Added reverse speed variable for recovery
Added path width variable
Some plan config parameters

Daniel-Martin576 commented 3 years ago

Has some issues with opponent cars, but we still need to work on that