MPC controller produces nan results sometimes
Description
How to Reproduce
Reproduction is difficult and @jitrc will update this later. For now, keeping this problem documented.
MPC Controler vehicle command generated nan values in output on some recorded and replayed trajectories.
Current Behavior
ros2 topic echo /vehicle_command
stamp:
sec: 1585281601
nanosec: 222425344
long_accel_mps2: .nan
front_wheel_angle_rad: .nan
rear_wheel_angle_rad: 0.0
Expected behavior
The controller should always produce valid output, even if it is unable to compute valid controls.
Edited by Jit Ray Chowdhury