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mushr_control's Introduction

MuSHR-Control

Simple contollers for MuSHR. Code mainly modified from CSE 478 20WI.

More sophisticated Receding Horizon Control is in mushr_rhc.

Contact Gilwoo Lee for questions regarding this repository.

Testing the controllers with single car

Open 4 terminals, all sourced.

  1. start the cars
roslaunch mushr_sim teleop.launch
  1. start controller in a new terminal
roslaunch mushr_control mpc_controller.launch  car_name:=car
  1. start rviz in a new terminal
rosrun rviz rviz -d config/car.rviz
  1. start the runner script in a new terminal
roslaunch mushr_control runner_script.launch car_name:=car wait_for_signal:=true

  1. Test one of the tracks by typing 1 ~ 5.

  2. Publish messages to start path following

# In a terminal set with rosmaster 11311
rostopic pub /car/start_path_following std_msgs/Bool True

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