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bearswang / mpc-ros

ROS package for autonomous navigation using model predictive control (MPC)
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mpc-ros/configure/config.yaml #3

Open yihsinma opened 5 months ago

yihsinma commented 5 months ago

receding: 10 max_speed: 8 ref_speed: 4 max_acce: 1 max_acce_steer: 0.02 sample_time: 0.2 max_steer: 0.5 wheelbase: 2.87 shape: [4.69, 1.85, 2.87, 1.75] # [length, width, wheelbase, wheelbase_w] cs: [1, 1, 1] cu: 1 cst: [1, 1, 1] cut: 1 start_position: [120.0, 170.0, 0] goal1_position: [190.0, 170.0, 0] goal2_position: [254, 170.0, 0] goal3_position: [254, 123.0, -1.5707963267948966] goal4_position: [240, 120.0, 2.967059677777778] goal5_position: [225, 120.0, 2.268927988888889] finish_position: [200, 150.0, 1.5707963267948966] Hello How do you plan waypoints? Are there any limits on planning waypoints? How to get theta?

hanruihua commented 4 months ago

Hi，the way points are set or recorded manually depend on the task. The only limit is that waypoints should be in the collision free space. A trajecctry could be generated by theses waypoints. Theta is obtainted by the obometry in the global map.