mpc for reverse motion
Description
When I run the MPC for reverse motion,
- the predicted trajectory oscillates
- a long time is needed to start moving
For the forward motion, the same MPC parameter follows the trajectory well.
Forward
Reverse
How to Reproduce
please checkout to my fetch branch
https://gitlab.com/TakaHoribe/AutowareAuto/-/tree/test-mpc-reverse-motion
then, launch LGSVL and test_trajectory_following.
$ RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /opt/lgsvl/simulator
$ ros2 launch test_trajectory_following simple_trajectory_following.launch.py sim_type:=lgsvl
The reverse trajectory is automatically generated and the mpc tries to follow. (You may have to send a gear command or change it to reverse in LGSVL at first.)