move mpc params to sim.yml and real_robot.yml

PurdueLunabotics · Feb 19, 2024 · 3acabe9 · 3acabe9
1 parent d973ab9
commit 3acabe9
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Showing 5 changed files with 30 additions and 20 deletions.
diff --git a/lunabot_bringup/launch/robot.launch b/lunabot_bringup/launch/robot.launch
@@ -29,9 +29,7 @@
       <node pkg="lunabot_control" type="differential_drive_controller.py" name="diff_drive_controller" output="screen"/>
 
       <group ns="nav">
-          <node pkg="lunabot_control" type="mpc_node" name="mpc_node" output="screen">
-              <rosparam file="$(find lunabot_config)/config/mpc.yml" command="load"/>
-          </node>
+          <node pkg="lunabot_control" type="mpc_node" name="mpc_node" output="screen"/>
 
           <node name="global_planner_node" pkg="lunabot_nav" type="dstar_node.py" output="screen" respawn="true">
               <!-- <rosparam file="$(find lunabot_config)/config/rrtstar.yml" command="load"/> -->

diff --git a/lunabot_bringup/launch/sim.launch b/lunabot_bringup/launch/sim.launch
@@ -59,10 +59,7 @@
 
   <!-- navigation -->
   <group ns="nav">
-      <node pkg="lunabot_control" type="mpc_node" name="mpc_node" output="screen">
-          <rosparam file="$(find lunabot_config)/config/mpc.yml" command="load"/>
-      </node>
-
+      <node pkg="lunabot_control" type="mpc_node" name="mpc_node" output="screen"/>
       <node name="global_planner_node" pkg="lunabot_nav" type="dstar_node.py" output="screen" respawn="true">
           <!-- <rosparam file="$(find lunabot_config)/config/rrtstar.yml" command="load"/> -->
       </node>

diff --git a/lunabot_config/config/mpc.yml b/lunabot_config/config/mpc.yml
diff --git a/lunabot_config/config/real_robot.yml b/lunabot_config/config/real_robot.yml
@@ -7,3 +7,17 @@ nav:
     occ_threshold: 80 # corresponds to possibly-in-collision
     bezier_step: 0.01
     lerp_step: 0.05
+    mpc_node:
+        rollout_count: 50
+        top_rollouts: 15
+        iterations: 10
+        w_linear: 1.0
+        w_angular: 5.0
+        w_waypoint: 20.0
+        w_occupied: 0.0
+        horizon_length: 10
+        frequency: 30
+        min_distance_threshold: 0.5
+        velocity_limits:
+            linear: [-0.5, 0.5]
+            angular: [-0.785, 0.785]
diff --git a/lunabot_config/config/sim.yml b/lunabot_config/config/sim.yml
@@ -13,3 +13,17 @@ nav:
     occ_threshold: 80 # corresponds to possibly-in-collision
     bezier_step: 0.01
     lerp_step: 0.05
+    mpc_node:
+        rollout_count: 50
+        top_rollouts: 15
+        iterations: 10
+        w_linear: 1.0
+        w_angular: 5.0
+        w_waypoint: 20.0
+        w_occupied: 0.0
+        horizon_length: 10
+        frequency: 30
+        min_distance_threshold: 0.5
+        velocity_limits:
+            linear: [-0.5, 0.5]
+            angular: [-0.785, 0.785]