MPC

A suggested visualization tool for MPC is plotjuggler

Visualization-Test

Install plotjuggler:

sudo snap install plotjuggler-ros

Start-test:

plotjuggler-ros

MPC Visualization

Step 1: start the simulator

# define the parameter of the simulator:stack_master/config/<racecar_version>/<racecar_version>_pacejka.yaml
roslaunch stack_master base_system.launch map_name:=f racecar_version:=<racecar_version> sim:=true tire_model:=pacejka

for example

roslaunch stack_master base_system.launch map_name:=f racecar_version:=NUC5 sim:=true tire_model:=pacejka

step 2: start the mpc controller

roslaunch stack_master time_trials.launch ctrl_algo:=STMPC

step 3: open plotjuggler

plotjuggler-ros
# load xml file to visualization from:
<race_stack_folder>/controller/mpc/config/mpc_plot.xml

step 3: follow the command

MPC Versions

Two MPC versions are available, one with a kinematic model, one with a single track, pacejka-tire model. To see the full list of parameters see, for example, NUC5 configs, and to see which of those are dynamically reconfigurable, checkout the source code in the (STMPC) config schema.

Usage Instructions

1. Start the simulator with the desired map and racecar version:

roslaunch stack_master base_system.launch map_name:=f racecar_version:=NUC5 sim:=true tire_model:=pacejka

2. Start the MPC controller with the time trials launch:

# for single-track mpc
roslaunch stack_master time_trials.launch ctrl_algo:=STMPC                          

or

# for kinematic mpc
roslaunch stack_master time_trials.launch ctrl_algo:=KMPC                          

NOTE: the parameters are implicitly chosen using the racecar_version and the floor in the base_system.launch step.