Integrate MPC controller into Autoware.Auto
Once the MPC controller ROS 2 node is available, integrate that node into Autoware.Auto and ensure that it is capable of following a trajectory produced by the mock planner using the localization transform.
It is necessary to test that the MPC controller actually does what it says it does. To do this, the controller must be minimally tested in the simulator.
The MPC controller has 2.5 inputs: /tf
(optional), Trajectory
, and VehicleKinematicState
.
-
#177 (closed) to get VehicleKinematicState
from simulator -
#233 (closed) to spoof slightly nontrivial trajectoriesHeld until after AVP -
Write launch script involving: -
LGSVL simulator python api -
Rosbridge 0.2.7 -
Vehicle interface (lgsvl_interface) -
Mpc controller -
Trajectory spooferHeld until after AVP
-
-
Parametrize lgsvl_interface throttle/brake mapping -
Add steering angle state to MPC or remove it from simulation (see !314 (comment 348873922)) -
Adress MPC error msg, which testing with trajectory_spoofer
"Advancing count too high! Likely indexing bug somewhere" -
Parametrize MPC (Sends out of bounds commands, no steering rate limit) - Look into the underlying model -
Test above -
Issue bug reports if anything doesn't work -
Update instructions based on results
Meeting Josh, Chris, Jit, Dejan on Mar 27
We met to consolidate the different MPC integration related work. Action items:
-
#364 (closed) -> @jitrc -
!227 (merged) #349 (closed)-> @jitrc address the reviews and merge -
Break down !175 (diffs) and https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/compare/master...296-integrate-record-replay-planner-with-the-LGSVL into smaller, logical chunks of code and get it merged => @jitrc , @s-mlr to review the MRs -
@JWhitleyWork notify @s-mlr also over email such that he does not duplicate the work (Done by @dejanpan) -
Record Reply related #374 (closed), #383 (closed) -
MPC Controller related #370 (closed) #364 (closed) -
Integration testing related !267 (merged)
-
- What is it needed to get MPC to work => @jitrc
- #208 (comment 295573578)
- you need to refresh the trajectory every 10 seconds
- when it gets the new trajectory, if you start the trajectory behind the car it will not work
- this could be a problem in !237 (merged)
- regarding: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/commits/296-integrate-record-replay-planner-with-the-LGSVL
-
increase LM parameters or reduce weight parameters in the controller => see comment from Chris
-
-
#339 (closed) -
#303 (closed) -
#350 (closed)
-
!237 (merged) -> @JWhitleyWork to merge -
#315 (closed) -> @Muira
Edited by Joshua Whitley